Synapticon Documentation

Hardware Manuals

SOMANET CirculoSOMANET NodeSOMANET Accessories Samples & Legacy ProductsSOMANET Circulo

The SOMANET Circulo series is a combination of servo drive, position feedback sensor (encoder), mechanical integration solution, providing a pin brake and safe motion option, specifically designed for collaborative robot (cobot) joints and smart actuators.

• Overview Circulo

  • Technical specifications

  • Load cycle

  • Thermal considerations

  • Downloads

• Installation guide

  • Wiring instructions

    • Power and brake

    • Encoders and IO

    • Analog input specification

    • Temperature sensor

    • Battery for Multi-Turn

    • EtherCAT-STO Cable

    • Maximum cable lengths

    • Mating parts

  • Mechanical integration

    • Mounting Example

    • Dimensions

    • Mounting encoder rings

    • Thermal Mounting Considerations

  • Encoder calibration

    • Encoder accuracy

    • Calibration Procedure

• LED signals

• Safety functions (STO-SBC)

  • Specifications of the safety functions

  • Safety connectors

  • Wiring the safety inputs

  • Using the safety functions

  • Examples for realising safety functions

    • Emergency stop

    • Stop category 1 emergency stop (Safe stop 1)

    • Prevention of unexpected start-up

  • Commissioning and maintenance

  • Changelog of the safety-related documentation

SOMANET Node

• Overview Node

  • Technical specifications

  • Load cycle

  • Thermal considerations

  • Downloads

  • Hardware diagrams

• Wiring instructions

  • Power and brake

  • Encoders and IO

  • Connector types and mating parts numbers

• Mounting instructions

• On-site installation guide (UL)

• LED signals

• Safety functions (STO-SBC)

  • Specifications of the safety functions

  • Setup of the safety functions

  • Using the safety functions

  • Examples for realising safety functions

  • Commissioning and maintenance

  • Changelog of the safety-related documentation

SOMANET Accessories

• SOMANET Braking Chopper 48V 500W

• Sin/Cos Encoder Cable Adapter

• Industrial I/O Cable Adapter

• ABI/BiSS Encoder Cable Adapter

Samples & Legacy Products

Note

Please note that these products are no longer sold or updated.

Circulo Sample B.1Circulo Sample A.2SOMANET Node D.3/D.4SOMANET Node C.4Circulo Sample B.1

• Overview Circulo Sample B.1

• Technical specifications

• Installation guide

  • Wiring instructions

    • Power and brake

    • Encoders and IO

    • Temperature sensor

    • EtherCAT-STO Cable

    • Mating parts

  • Dimensions and mechanical mounting

  • Mounting encoder rings

  • Mounting a bearing

  • Encoder accuracy

  • Encoder Calibration

• LED signals

• Safety functions (STO-SBC)

  • Specifications of the safety functions

  • Safety connectors

  • Wiring the safety inputs

  • Using the safety functions

  • Examples for realising safety functions

    • Emergency stop

    • Stop category 1 emergency stop (Safe stop 1)

    • Prevention of unexpected start-up

  • Commissioning and maintenance

  • Changelog of the safety-related documentation

Circulo Sample A.2

• Overview Circulo Sample A.2

• Technical specifications

• Installation guide

  • Wiring instructions

    • Power supply and motor brake

    • Encoders and IO

    • Temperature sensor

    • Mating parts and encoder battery

  • Dimensions and mechanical mounting

  • Mounting encoder rings

  • Encoder accuracy

• LED signals

• Safety functions (STO-SBC)

  • Specifications of the safety functions

  • Wiring the safety inputs

  • Using the safety functions

  • Commissioning and maintenance

SOMANET Node D.3/D.4

• Overview Node D.3/4

• Technical specifications

• Hardware diagrams

• Installation guide

  • Wiring instructions

  • Connector pinouts

  • Grounding and connecting a brake

  • Mounting instructions

• LED signals

SOMANET Node C.4

• Overview Node C.4

• Technical specifications

• Hardware diagrams

• Installation guide

  • Wiring instructions

  • Connector pinouts

  • Grounding and connecting a brake

  • Mounting instructions

• LED signals

Commissioning and tuning with OBLAC Drives

• OBLAC Drives Setup

  • Set up OBLAC Drives Box

  • Set up OBLAC Drives Virtual Machine

• Using OBLAC Drives

• Set up your servo drive

• Motion control tuning

  • Automatic tuning

    • System Identification

    • Position auto-tuning

    • Velocity auto-tuning

  • Manual tuning

    • Manual Tuning of the current controller

    • Manual tuning of the velocity control loop

    • Manual tuning of the position control loop

• Test your drive at the playground

• Update or downgrade OBLAC Drives

• Troubleshooting

Software Reference Manual

v5.0 v4.4 v4.2 v4.1 v4.0v5.0

• Migration guide from v4.x to 5.0

• Overview

• CANopen over EtherCAT

• Actuator configuration

  • Motor and gear settings

  • Manually controlling phase D voltage

  • Brake release feature

  • User defined velocity units

  • Commutation Offset Detection

  • Power limit

• Encoders and I/O

  • Analog In

  • Analog Input Scaling

  • Digital I/O

  • Digital GPIO

  • Encoder configuration

  • Commutation with Hall and ABI combined

  • Input counter

• Protection

• Errors and warnings

  • Errors thrown by the firmware

  • Error report object

  • Remedies for protection errors

• Logging

• Motion control

  • Control Loops

    • Current and Torque Control Loop

    • Velocity Control Loop

    • Position Control Loop

    • Dual Loop Cascaded Postion Control

  • Modes of operation

    • Cyclic modes

      • Cyclic synchronous torque control (CST)

      • Cyclic synchronous velocity control (CSV)

      • Cyclic synchronous position control (CSP)

    • Profile modes

      • Profile position mode

      • Profile velocity mode

      • Profile torque mode

    • Homing modes

    • Diagnostics opmode

    • Switching the modes

  • Extended control functionalities

    • Cogging compensation

    • Field weakening

    • Anti-windup control

    • Gain scheduling

    • Motor overload protection (i2t)

    • Velocity feed forward

    • Torque offset

    • Velocity offset

    • Filtering

      • Position and Velocity Feedback Low-pass filters

      • Torque loop input shaping filter

    • Command smoothing and Interpolation

    • Control supervision

    • Distributed clocks (DC clocks)

    • OS Command

    • Quick stop

• Object dictionary

  • All objects

  • Communication area

  • Manufacturer specific area

  • Profile specific area

• Process Data Objects

  • Standard RxPDO mapped objects

  • Standard TxPDO mapped objects

  • Configuring custom PDO mappings

• Device info

  • Saving and restoring configurations

• Changelog v5.0

v4.4

• Overview

• CANopen over EtherCAT

• Actuator configuration

  • Motor and gear settings

  • Manually controlling phase D voltage

  • Brake release feature

  • User defined velocity units

• Encoders and I/O

  • Analog In

    • Analog Input Scaling

  • Digital I/O

  • Encoder configuration

  • Commutation with Hall and ABI combined

  • Input counter

• Protection

• Errors and warnings

  • Errors thrown by the firmware

  • Error report object

  • Remedies for protection errors

• Logging

• Motion control

  • Control Loops

    • Current and Torque Control Loop

    • Velocity Control Loop

    • Position Control Loop

    • Dual Loop Cascaded Postion Control

  • Modes of operation

    • Cyclic modes

      • Cyclic synchronous torque control (CST)

      • Cyclic synchronous velocity control (CSV)

      • Cyclic synchronous position control (CSP)

    • Profile modes

      • Profile position mode

      • Profile velocity mode

      • Profile torque mode

    • Homing modes

    • Switching the modes

  • Extended control functionalities

    • Cogging compensation

    • Field weakening

    • Anti-windup control

    • Gain scheduling

    • Motor overload protection (i2t)

    • Velocity feed forward

    • Torque offset

    • Velocity offset

    • Filtering

    • Command smoothing and Interpolation

    • Control supervision

    • Distributed clocks (DC clocks)

• Object dictionary

  • All objects

  • Communication area

  • Manufacturer specific area

  • Profile specific area

• Process Data Objects

  • Standard RxPDO mapped objects

  • Standard TxPDO mapped objects

  • Configuring custom PDO mappings

• Device info

• Changelog v4.4

v4.2

• Overview

• CANopen over EtherCAT

• Actuator configuration

  • Motor and gear settings

  • Manually controlling phase D voltage

  • Brake release feature

  • User defined velocity units

• Encoders and I/O

  • Analog In

    • Analog Input Scaling

  • Digital I/O

  • Encoder configuration

  • Commutation with Hall and ABI combined

  • Input counter

• Protection

• Errors and warnings

  • Errors thrown by the firmware

  • Error report object

• Logging

• Motion control

  • Control Loops

    • Current and Torque Control Loop

    • Velocity Control Loop

    • Position Control Loop

    • Dual Loop Cascaded Postion Control

  • Modes of operation

    • Cyclic modes

      • Cyclic synchronous torque control (CST)

      • Cyclic synchronous velocity control (CSV)

      • Cyclic synchronous position control (CSP)

    • Profile modes

      • Profile position mode

      • Profile velocity mode

      • Profile torque mode

    • Homing modes

    • Switching the modes

  • Extended control functionalities

    • Cogging compensation

    • Field weakening

    • Anti-windup control

    • Gain scheduling

    • Motor overload protection (i2t)

    • Velocity feed forward

    • Torque offset

    • Velocity offset

    • Filtering

    • Control supervision

    • Distributed clocks (DC clocks)

• Object dictionary

  • All objects

  • Communication area

  • Manufacturer specific area

  • Profile specific area

• Process Data Objects

  • Standard RxPDO mapped objects

  • Standard TxPDO mapped objects

  • Configuring custom PDO mappings

• Device info

• Changelog v4.2

v4.1

• Overview

• CANopen over EtherCAT

• Actuator configuration

• Sensor configuration

• Protection

• Errors and warnings

  • Errors thrown by the firmware

  • Error report object

• Logging

• Motion control

  • Drive state machine (CiA 402)

  • Modes of operation

    • Cyclic synchronous torque control (CST)

    • Cyclic synchronous velocity control (CSV)

    • Cyclic synchronous position control (CSP)

    • Switching the modes

  • Extended control functionalities

    • Cogging compensation

    • Field weakening

    • Anti-windup control

    • Gain scheduling

    • Motor overload protection (i2t)

    • Torque offset for feed forward control

    • Velocity offset for feed forward control

• Object dictionary

  • All objects

  • Communication area

  • Manufacturer specific area

  • Profile specific area

• Process Data Objects

  • Standard RxPDO mapped objects

  • Standard TxPDO mapped objects

  • Configuring custom PDO mappings

• Device info

• Changelog v4.1

v4.0

• Overview

• CANopen over EtherCAT

• Actuator configuration

• Sensor configuration

• Errors and warnings

• Motion control

  • Drive state machine (CiA 402)

  • Modes of operation

    • Cyclic synchronous torque control (CST)

    • Cyclic synchronous velocity control (CSV)

    • Cyclic synchronous position control (CSP)

    • Switching the modes

  • Extended control functionalities

    • Cogging compensation

    • Field weakening

    • Anti-windup control

    • Torque offset for feed forward control

• Object dictionary

  • All objects

  • Communication area

  • Manufacturer specific area

  • Profile specific area

• Process Data Objects

  • Standard RxPDO mapped objects

  • Standard TxPDO mapped objects

• Device info

Resources

• System Integration Guidelines

  • Drive Sizing

  • Choosing a power supply

  • Wiring Guidelines

  • Earthing

  • Regenerative energy

  • Measuring the brake output voltage

  • Connecting and configuring analog inputs

  • Temperature sensors

  • CANopen over EtherCAT CiA 402

  • Using Statusword and Controlword

  • Circulo Mounting Example

  • Replacing a SOMANET Drive

• Tutorials

  • Tuning guides

    • Velocity PID Tuning

    • Position tuning with Gain Scheduling

    • Cascaded position Tuning

  • Drive operations through File Access over EtherCAT (FoE)

• About this documentation