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SOMANET Circulo 7
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1.5.1.4
.2.1.2 Manua
l switch + d
rive (singl
e-channel
)
Allows sa
fety function
s up to
SIL 1, P
L c, cat. 1.
1.5.1.4
.2.1.3 Manua
l switch + m
ultiple dri
ves
Allows sa
fety function
s up to
SIL 3, P
L e, cat.3.
Synaptic
on Documen
tation
© 2021 Sy
napticon GmbH |
Daimlerstraße 26
| D-71101 Schön
aich Documen
tation v 4.19.0 | B
uilt 2022-02-01
288/1031
287
289
Table of Contents
Main Page
Method
1
Table of Contents
2
Encoder Port
2
Hardware Manuals
25
Handling Instructions
31
Electrostatic Discharge
31
Magnetic Sensitive Devices
32
SOMANET Circulo
33
Overview
35
Technical Specifications
38
Power Specification
38
General Specification
38
Optional Integrated Encoders
40
Accuracy and Repeatability of the Integrated Encoders
42
Optional Integrated Brake
43
Ordering Information
44
Load Cycle
45
Thermal Mounting Considerations
46
Current as a Function of Mounting Temperature
47
Ambient Air
49
Downloads
50
Documents
50
CAD Files
50
Installation Guide
51
Wiring Instructions
52
Power and Brake
54
Supply and Phases
54
Connecting a Brake
57
Encoders and IO
59
Encoder Overview
59
Analog Input
60
Encoder Ports
61
Digital IO
66
Ethercat / STO-SBC in & out
68
Analog Input Specification
73
Differential
73
Single-Ended
74
Temperature Sensor
75
Specification for the Single-Ended Temperature Sensor Input
77
Battery for Multi-Turn
79
Suitable Batteries
79
Power Consumption of Multi-Turn
80
Ethercat-STO Cable
81
Overview
81
Pinout of the Connectors
82
Instructions for Manufacturing the Cables
84
Maximum Cable Lengths
90
Mating Parts
91
Connector Details and Mating Part Numbers
91
Mechanical Integration
93
Circulo Mounting Example
94
Mounting the Encoder Disc
95
Mounting a Hollow-Shaft Secondary Bearing
96
Routing the Motor Phase Cables
97
Dimensions and Drawings
99
Dimensions
99
Weight and Inertia of the Encoder Rings
103
Drilling Patterns
103
Mounting a Bearing
106
Side View with Phase Connectors
107
Mounting Encoder Rings
109
Axial Distance Tolerances
109
Planar Displacements
111
Encoder Calibration
113
Encoder Accuracy
114
Narrow Angle Errors (Encoder System-Specific Non-Linearity)
115
Wide Angle Error (Installation-Dependent Non-Linearity)
116
Detecting the Encoder Non-Linearity
117
Calibration Procedure
118
Prerequisite
118
Performing the Procedure
118
Troubleshooting
123
Encoder System Diagnostic
125
LED Signals
131
Overview
131
Legend
131
Status LED
132
Firmware
132
Bootloader
133
Ethercat LED
133
Safety Functions (STO-SBC)
134
Safety Specifications
135
System Requirements
135
Technical Specifications
135
Safety Connectors
138
Wiring the Safety Inputs
139
Cabling Lenghts
139
Connection Diagrams for the STO Inputs
139
Manual Switch + Drives
140
Safety PLC PM (Plus-Minus Output) + Drives
140
Safety PLC PP (Plus-Plus Output) + Drives
141
Connection Diagram for the Brake
141
Using the Safety Functions
142
Timing Diagrams
142
Timing Diagram for STO-Function Without Connected Brake
142
Timing Diagram for STO-Function with SBC-Function
143
Truth Table for Digital Inputs
145
Diagnostic Functions
145
Software Diagnostics
145
STO-SBC Status Register
145
Examples for Realising Safety Functions
147
Emergency Stop
148
Stop Category 1 Emergency Stop (Safe Stop 1)
149
Prerequisites
149
Wiring
150
Configuration
150
Verification
151
Prevention of Unexpected Start-Up
152
Commissioning and Maintenance
153
Commissioning
153
Maintenance
153
Changelog of the Safety-Related Documentation
154
SOMANET Node
155
Overview
156
Technical Specifications
157
Power Specifications
157
General Specifications
157
Load Cycle
160
Thermal Mounting Considerations
161
Downloads
163
Documents
163
CAD Files
163
Installation Guide
164
Wiring Instructions
165
Overview of Connectors
165
Power and Brake
166
Pinout Power Terminal
166
Connecting a Brake
169
Encoders and IO
171
Encoder Port
171
Encoder Port 3 / Digital IO
173
Analog in
174
Ethercat Port
178
Connector Details and Mating Parts Numbers
180
Mounting Instructions
181
Heat Dissipation
181
Dimensions
181
Interference with Magnetic Fields
183
On-Site Installation Guide (UL)
184
Branch Fuse Required
184
Field Wiring Terminal Marking
185
Downloads
186
LED Signals
187
Overview
187
Legend
187
Core LED
188
Firmware
188
Bootloader
189
Drive LED
189
Com LED
190
SOMANET Node Safety (Original Instructions)
191
Dimensions
192
Specifications of the Safety Functions
193
System Requirements
193
Technical Specifications
193
Block Diagram
195
Setup of the Safety Functions
196
Connecting the STO/SBC Inputs
197
STO/SBC Input Port
197
Wiring Examples for the STO/SBC Inputs
198
Connection Diagram for the Brake
200
Brake Power Output (STO/SBC)
201
Connector Mating Parts and Cable Lengths
202
Using the Safety Functions
203
Timing Diagrams
203
Timing Diagram for STO-Function Without Connected Brake
203
Timing Diagram for STO-Function with SBC-Function
204
Truth Table for Digital Inputs
206
Diagnostic Functions
206
Fault Diagnostics
206
Fault Reaction
206
Resetting Diagnostic Faults
207
STO-SBC Status Register
207
Examples for Realising Safety Functions
209
Prevention of Unexpected Start-Up
209
Stop Category 0 (STO)
209
Stop Category 1 (SS1)
210
Prerequisites
210
Wiring
211
Configuration
211
Verification
212
Commissioning and Maintenance
213
Commissioning
213
Maintenance
213
Changelog of the Safety-Related Documentation
214
SOMANET Accessories
215
SOMANET Braking Chopper 48V 500W
216
Overview
216
Technical Specs
217
Installing the Module and Setting the Threshold Voltage
218
Connecting the Board to DC-BUS
219
Suitable Cables
219
Wiring
219
Failsafe Behavior
220
Multi-Board Option
220
Led
221
Dimensions
222
Sin/Cos Encoder Cable Adapter
223
Overview
223
Block Diagram
223
Connectors
224
Encoder Connector Top
224
Encoder Connector Bottom
225
Interface Connector
225
Mounting Remarks
226
Strain Relief
227
Soldered Cables
227
Industrial I/O Cable Adapter
228
Overview
228
Block Diagram
228
Pinouts
230
Connector Details and Mating Parts
230
Strain Relief
231
Soldered Cables
232
Attaching the Adapter
232
Abi/Biss Encoder Cable Adapter
233
Overview
233
Block Diagram
233
Connectors
234
Encoder Connector Top
234
Encoder Connector Bottom
235
Interface Connector
235
Mounting Remarks
236
Strain Relief
237
Soldered Cables
237
Downloads
237
Samples & Legacy Products
238
Circulo Sample
241
Technical Specifications
243
Power Specification
243
General Specification
243
Optional Integrated Encoders
244
Accuracy and Repeatability of the Encoder Rings
246
Optional Integrated Brake
247
Installation Guide
248
Wiring Instructions
249
Overview of Connectors
249
Power Supply and Motor Brake
250
Encoders and IO
254
Temperature Sensor
261
Mating Parts and Encoder Battery
262
Dimensions and Mechanical Mounting
265
Dimensions
265
Drilling Patterns for Mounting
268
Heat Dissipation
271
Mounting Encoder Rings
272
Aligning the Encoder Discs
272
Mounting Tolerances
275
Encoder Accuracy
277
Wide Angle Error (Long Wave Error, Integral Nonlinearity)
278
Narrow Angle Error (Short Wave Error, Differential Nonlinearity, Sub Divisional Error)
278
LED Signals
279
Overview
279
Legend
279
Core LED
280
Firmware
280
Bootloader
281
Drive LED
281
Ethercat LED
282
Safety Functions (STO-SBC)
283
Safety Specifications
284
System Requirements
284
Technical Specifications
284
Block Diagram
286
Wiring the Safety Inputs
287
Connection Diagrams for the STO Inputs
287
Connection Diagrams for the STO/SBC Feedback Output
292
Connection Diagram for the Brake
294
Using the Safety Functions
295
Timing Diagrams
295
Truth Table for Digital Inputs
297
Diagnostic Functions
297
STO-SBC Status Register
298
Use Cases
299
Commissioning and Maintenance
300
Commissioning
300
Maintenance
300
Circulo Sample
301
Technical Specifications
304
Power Specification
304
General Specification
305
Optional Integrated Encoders
306
Accuracy and Repeatability of the Integrated Encoders
308
Optional Integrated Brake
310
Ordering Information
310
Installation Guide
312
Wiring Instructions
313
Power and Brake
315
Encoders and IO
321
Temperature Sensor
335
Ethercat-STO Cable
337
Mating Parts
346
Dimensions and Mechanical Mounting
348
Dimensions
348
Drilling Patterns for Mounting
351
Heat Dissipation
354
Mounting Encoder Rings
355
Aligning the Encoder Discs
355
Mounting Tolerances
357
Battery for Multi-Turn
358
Mounting a Bearing
360
Encoder Accuracy
362
Wide Angle Error (Long Wave Error, Integral Nonlinearity)
363
Narrow Angle Error (Short Wave Error, Differential Nonlinearity, Sub Divisional Error)
363
Encoder Calibration
364
Overview
364
Prerequisite
365
Encoder System Diagnostic
365
Calibration Procedure
367
LED Signals
369
Overview
369
Legend
369
Status LED
370
Firmware
370
Bootloader
371
Ethercat LED
371
Safety Functions (STO-SBC)
372
Safety Specifications
373
System Requirements
373
Technical Specifications
373
Safety Connectors
376
Wiring the Safety Inputs
377
Cabling Lenghts
377
Connection Diagrams for the STO Inputs
377
Connection Diagram for the Brake
379
Using the Safety Functions
381
Timing Diagrams
381
Truth Table for Digital Inputs
383
Diagnostic Functions
383
STO-SBC Status Register
384
Examples for Realising Safety Functions
385
Emergency Stop
386
Stop Category 1 Emergency Stop (Safe Stop 1)
387
Prevention of Unexpected Start-Up
390
Commissioning and Maintenance
391
Commissioning
391
Maintenance
391
Changelog of the Safety-Related Documentation
392
SOMANET Node Rev
393
Technical Specifications
394
Power Specifications
394
General Specifications
394
Hardware Diagrams
396
Ethercat Module
396
Processor Module
397
Drive Module
398
Installation Guide
399
Downloads
399
Wiring Instructions
400
Warning about Using Contactors Behind the Power Supply
400
Connectors
402
Power Terminal
402
Encoder Port
403
Encoder Port 3 / Digital IO
405
Analog in
406
Ethercat Port
407
Connector Types and Mating Parts Numbers
409
Grounding and Connecting a Brake
410
Connecting a Brake
410
Mounting Instructions
412
Heat Dissipation
412
Dimensions
412
Interference with Magnetic Fields
413
LED Signals
415
Overview
415
Legend
415
Core LED
416
Firmware
416
Bootloader
417
SOMANET Node Rev
418
Technical Specifications
419
Power Specifications
419
General Specifications
420
Hardware Diagrams
422
Ethercat Module
422
Processor Module
423
Drive Module
424
Installation Guide
425
Wiring Instructions
426
Warning about Using Contactors Behind the Power Supply
426
Connectors
428
Ethercat IN/OUT
428
Power Terminal
429
Encoder Port
430
Encoder Port 3 / Digital IO
432
Analog in
433
Ethercat Port
434
Connector Types and Mating Parts Numbers
435
Grounding and Connecting a Brake
437
Connecting a Brake
437
Mounting Instructions
438
Heat Dissipation
438
Dimensions
438
Interference with Magnetic Fields
439
LED Signals
440
Overview
440
Legend
440
Core LED
441
Firmware
441
Bootloader
442
Commissioning and Tuning Guide
443
OBLAC Drives Setup
444
OBLAC Drives Box
445
Connectors
446
Installation
447
Network Connection to the OBLAC Box
449
Connection Host-PC ↔ Box by Wi-Fi
450
Host-PC Connected to Internet by LAN Connection
450
Box Connected to Internet by LAN Connection
451
Host-PC and Box Not Connected to Internet
452
Connection Host-PC ⇿ PC by LAN Cable
452
LAN Connection Via Switch and Connection to a Network with DHCP Server
452
LAN Connection Peer to Peer
453
No Connection to OBLAC Update Server
455
Offline Updates
455
Open OBLAC Drives
456
Update OBLAC Drives
456
OBLAC Drives Virtual Machine
457
Prerequisite
457
Getting Started
457
Connecting to OBLAC Drives
463
Update OBLAC Drives
466
Troubleshooting
466
Using OBLAC Drives
468
Installing the Latest Version
468
User Interface Overview
469
Save to Device
469
Update Firmware
469
Launch Setup Wizard
470
Download Device Description XML
470
Load Configuration File
470
Save Configuration File
470
Download Log
470
Factory Reset
470
Using Keyboard Shortcuts
471
Quick Open
471
Set up Your Servo Drive
472
Motion Control Tuning
479
Overview of the Tools
479
Auto-Tuning
481
Concept of Auto-Tuning
481
Goal of Position Auto-Tuning
481
Goal of Velocity Auto-Tuning
482
System Identification
483
Prerequisites
483
Limitations
483
How to Use
484
F.a.q
486
Position Auto-Tuning
488
Prerequisites
488
Limitations
488
How to Use
488
Next Steps
493
F.a.q
493
Velocity Auto-Tuning
495
Prerequisites
495
Limitations
495
How to Use
495
Next Steps
498
F.a.q
498
Manual Tuning
499
Manual Tuning of the Current Controller
500
Manual Tuning Guide
500
Manual Tuning of the Velocity Control Loop
502
Manual Tuning of the Position Control Loop: Cascaded Controller
503
Test a Drive at the Playground
504
Prerequisites
504
Applying Torque to a Motor
504
Rotate a Motor at Defined Velocities
505
Rotate a Motor to Defined Positions
505
Update/Downgrade OBLAC Drives
507
Troubleshooting
508
Virtualization Not Activated
508
Memory Warning
509
Runtime Issues
509
Other Issues
510
Software Reference
512
Software Reference Manual V5.0
520
Firmware Overview
523
Functionality Description
524
Canopen over Ethercat (Coe)
525
Drive State Machine (Cia 402)
525
Pdo
526
PDO Configuration
526
Sdo
526
Actuator Configuration
527
Motor and Gear Settings
528
Motor Configuration
528
Pole Pairs
528
Torque Constant
528
Phase Resistance
529
Phase Inductance
529
Errors in Phase Resistance and Inductance
530
Motor Phases Inverted
530
PWM Frequency
531
Gear Ratio
531
Advanced Configurations
531
Parameters
532
Generic Brake Output Voltage
533
Overview
533
Usage
533
Limitations
534
Parameters
534
Brake Configuration
535
Pin-Brake Mode
536
Timing Diagram
536
Brake PWM Frequency
538
Custom Brake Modes
538
Parameters
538
User Defined Velocity Units
539
Overview
539
Usage
540
Objects Affected
540
Example
541
Parameters
541
Commutation Offset Detection
543
Overview
543
Basic Principles
543
Requirements
545
Load Requirements
545
Autophasing Methods
546
Method
546
Method
547
Common Use Cases
548
Usage
549
Tuning Gains (Method 1)
550
Parameters
550
Power Limit
552
Overview
552
Requirements
552
Detailed Description
552
Parameters
553
Encoders and I/O
554
Analog in
555
Using Single-Ended Sensors on Differential Inputs
555
Nonlinear Conversion
555
Parameters
555
Analog Input Scaling
556
Requirements
556
Usage
556
Wiring
557
Software Configuration
557
Thresholds
558
Polynomial
559
Digital I/O
560
Configuration of Digital I/Os as Input or Output
560
Using Digital I/Os for Input Actions or Output Events
560
Parameters
560
Digital GPIO
561
Overview
561
Usage
562
Manual Configuration
563
General Purpose In- and Output (GPIO)
563
Using Digital GPIO with Home Switches and Limit Switches
564
Input Actions
566
Output Events
567
Parameters
569
Encoder Configuration
570
Parameter Description
570
Function
570
Resolution
570
Zero Velocity Threshold
570
Polarity
571
Multiturn Resolution
571
Parameters
571
Commutation with Hall and ABI Combined
572
Overview
572
Requirements
572
Usage
572
Detailed Description
573
Startup
573
Error Detection
573
Runtime
574
Input Counter
575
Overview
575
Limitations
575
Parameters
576
Protection
577
Overview
577
Usage
577
Parameters
577
Errors and Warnings
578
Error Codes Thrown by the Firmware
579
Error Report Object
580
Remedies for Protection Errors
604
Remedy for Over-Current
604
Remedy for Over-Voltage
604
Remedy for Under-Voltage
605
Remedy for Over-Temperature
605
Logging
606
Overview
606
Types
606
Format
607
Motion Control
608
Control Loops
610
Current and Torque Control Loop
611
Torque Control Loop
611
Parameters
614
Velocity Control Loop
615
Parameters
617
Position Control Loops
618
Cascaded PID Controller
618
Simple PID Controller
620
Dual Loop Cascaded Position Control
622
Overview
622
Usage
623
Parameters
623
Modes of Operation
624
Cyclic Modes
625
Cyclic Synchronous Torque Mode
626
Cyclic Synchronous Velocity Mode
628
Cyclic Synchronous Position Mode
631
Profile Modes
634
Profile Position Mode
635
Profile Velocity Mode
643
Profile Torque Mode
647
Homing Modes
650
Overview
650
Homing Methods
650
Settings for Homing Mode
655
How to Perform Homing
657
Operation Mode Dependent Bits of Status- and Controlword
659
Parameters
660
Quick Stop
661
Overview
661
Usage
661
Parameters
664
Diagnostics Opmode
665
Selecting and Switching the Modes
666
Dynamic Op-Mode Switching
666
Extended Control Functionalities
667
Cogging Torque Compensation
668
Overview
668
Procedure
669
Controlling the Feature Via Ethercat
672
Subitems
672
Parameters
673
Field Weakening
674
Anti-Windup Control
676
Parameters
677
Gain Scheduling
678
Motor Overload Protection (I2T)
680
Overview
680
Requirements
680
Description of Subitems for 0X200A
681
Operating Principle
681
Velocity Feed Forward
682
Usage
682
Using a Velocity Offset Additionally
683
Object Used for Velocity Feed Forward
683
Torque Offset
684
Velocity Offset
685
Filtering
686
Overview
686
Methods
688
Application Guide
689
Parameters
690
Position and Velocity Feedback Low-Pass Filters
691
Torque Loop Input Shaping Filter
693
Command Smoothing and Interpolation
695
Overview
695
Side Effects
695
Applications
696
Detailed Description
698
Control Supervision
700
Timing Diagram of the Supervision Objects
700
Following Error
703
Following Error Window
703
Target Reached Function
705
Monitoring the Internal Variables
707
Control Effort
708
Parameters
708
Distributed Clocks (DC Clocks)
710
Overview
710
Distributed Clock Configuration
710
Parameters
711
OS Command
712
Overview
712
Usage
712
Cia 402 Object Dictionary
714
List of All Objects
715
0X1000 Device Type
726
0X1001 Error Register
727
0X1005 COB-ID SYNC
728
0X1006 Communication Cycle Period
729
0X1008 Manufacturer Device Name
730
0X100A Manufacturer Software Version
731
0X100C Guard Time
732
0X100D Life Time Factor
733
0X1010 Store Parameters
734
0X1011 Restore Default Parameters
735
0X1016 Consumer Heartbeat Time
736
0X1017 Producer Heartbeat Time
737
0X1018 Identity Object
738
0X1019 Synchronous Counter Overflow Value
739
0X1023 os Command
740
0X1024 os Command Mode
741
0X1400 Receive PDO1 Parameter
742
0X1401 Receive PDO2 Parameter
743
0X1402 Receive PDO3 Parameter
744
0X1403 Receive PDO4 Parameter
745
0X1600 Receive PDO1 Mapping
746
0X1601 Receive PDO2 Mapping
747
0X1602 Receive PDO3 Mapping
748
0X1603 Receive PDO4 Mapping
749
0X1800 Transmit PDO1 Parameter
750
0X1801 Transmit PDO2 Parameter
751
0X1802 Transmit PDO3 Parameter
752
0X1803 Transmit PDO4 Parameter
753
0X1A00 Transmit PDO1 Mapping
754
0X1A01 Transmit PDO2 Mapping
755
0X1A02 Transmit PDO3 Mapping
756
0X1A03 Transmit PDO4 Mapping
757
0X1C00 Sync Manager
758
0X1C10 SM 0 Assignment
759
0X1C11 SM 1 Assignment
760
0X1C12 SM 2 Assignment
761
0X1C13 SM 3 Assignment
762
0X2000 Command Object (Disabled)
763
0X2001 Commutation Angle Offset
764
0X2002 Position Control Strategy
765
Selects the Control Structure Used for Position Control
765
0X2003 Motor Specific Settings
766
0X2004 Brake Options
767
0X2006 Protection
770
0X2008 Cogging Torque Compensation
771
0X2009 Commutation Offset
772
0X200A I2T
775
0X200B Max Power
776
0X2010 Torque Controller
777
0X2011 Velocity Controller
780
Velocity PID Tuning (Objects 2011:1
780
0X2012 Position Controller
782
Parameter Tuning Guide for Position Controller with Cascaded Structure
782
Parameter Tuning Guide for Position Controller with Simple PID Structure (Objects 2012:1
784
0X2013 Gain Scheduling
786
0X2014 Torque Window
789
0X2015 Velocity Feed Forward
790
0X2021 Velocity Feedback Filter
791
0X2022 Position Feedback Filter
792
0X2023 Notch Filter
793
0X2027 Control Input FIR Filter
794
0X2030 Core Temperature
795
0X2031 Drive Temperature
796
0X2038 External Scaled Measurement
797
0X203F Error Report
799
0X2040 Input Counter
823
0X20E1 High Resolution Data
824
0X20F0 Timestamp
826
0X20F2 Assigned Name
827
0X20F3 DC Synchronization
828
0X2110 Encoder 1 Configuration
829
All Encoders
829
All Encoders
830
Biss/Ssi
830
Incremental Encoder
830
Hall Sensor/Nikon A-Format/Rem16Mt/Sincos Module
830
All Encoders
831
Absolute Encoders (Biss/Ssi/Nikon A-Format/Rem 16MT)
831
Incremental Encoder
832
Biss/Ssi
832
Nikon A-Format
832
Biss
833
Ssi
833
Biss/Ssi/Nikon A-Format
834
Biss/Ssi
834
Nikon A-Format
834
Biss/Ssi
835
Biss
835
Biss
836
Ssi
836
Ssi
837
Incremental Encoder/Sincos Module
837
Incremental Encoder
838
Sincos Module
838
Sincos Module
839
Rem 16Mt
840
0X2111 Encoder 1 Feedback
841
0X2112 Encoder 2 Configuration
842
All Encoders
842
All Encoders
843
Biss/Ssi
843
Incremental Encoder
843
Hall Sensor/Nikon A-Format/Rem16Mt/Sincos Module
843
All Encoders
844
Absolute Encoders (Biss/Ssi/Nikon A-Format/Rem 16MT)
844
Incremental Encoder
845
Biss/Ssi
845
Nikon A-Format
845
Biss
846
Ssi
846
Biss/Ssi/Nikon A-Format
847
Biss/Ssi
847
Nikon A-Format
847
Biss/Ssi
848
Biss
848
Biss
849
Ssi
849
Ssi
850
Incremental Encoder/Sincos Module
850
Incremental Encoder
851
Sincos Module
851
Sincos Module
852
Rem 16Mt
853
0X2113 Encoder 2 Feedback
854
0X2210 GPIO Pin Configuration
855
0X2211 GPIO Output Events
866
0X2212 GPIO Input Actions
867
0X2213 GPIO Position Trigger
868
0X2214 GPIO Global Options
869
0X2401 Analog Input
870
0X2403 Analog Input
872
0X2404 Analog Input
873
0X2611 Safety Digital Input Diagnostics
874
0X2701 Tuning Command
875
0X2702 Tuning Status
876
0X2703 User MOSI
877
0X2704 User MISO
878
0X2705 Setup Wizard Completed
879
0X603F Error Code
880
0X6040 Controlword
881
0X6041 Statusword
882
0X605A Quick Stop Option Code
884
0X6060 Modes of Operation
885
0X6061 Modes of Operation Display
886
0X6062 Position Demand Value
887
0X6064 Position Actual Value
888
0X6065 Following Error Window
889
0X6066 Following Error Time out
890
0X6067 Position Window
891
0X6068 Position Window Time
892
0X606B Velocity Demand Value
893
0X606C Velocity Actual Value
894
0X606D Velocity Window
895
0X606E Velocity Window Time
896
0X606F Velocity Threshold
897
0X6070 Velocity Threshold Time
898
0X6071 Target Torque
899
0X6072 Max Torque
900
0X6073 Max Current
901
0X6074 Torque Demand
902
0X6075 Motor Rated Current
903
0X6076 Motor Rated Torque
904
0X6077 Torque Actual Value
905
0X6079 DC Link Circuit Voltage
906
0X607A Target Position
907
0X607B Position Range Limit
908
0X607C Home Offset
909
0X607D Software Position Limit
910
0X607E Polarity
911
0X6080 Max Motor Speed
912
0X6081 Profile Velocity
913
0X6083 Profile Acceleration
914
0X6084 Profile Deceleration
915
0X6085 Quick Stop Deceleration
916
0X6086 Motion Profile Type
917
0X6087 Torque Slope
918
0X6088 Torque Profile Type
919
0X6091 Gear Ratio
920
0X6098 Homing Method
921
0X6099 Homing Speeds
922
0X609A Homing Acceleration
923
0X60A9 si Unit Velocity
924
0X60B1 Velocity Offset
925
0X60B2 Torque Offset
926
0X60F4 Following Error Actual Value
927
0X60Fa Control Effort
928
0X60Fc Position Demand Internal Value
929
0X60Fd Digital Inputs
930
0X60Fe Digital Outputs
931
0X60Ff Target Velocity
932
0X6502 Supported Drive Modes
933
0X6621 Safety Statusword
934
Communication Area
935
Process Data Objects
939
Standard Rxpdo Mapped Objects
940
Standard Txpdo Mapped Objects
941
Advanced PDO Mapping
942
Changing the Content of an Object
942
Manufacturer Specific Area
944
Profile Specific Area
950
Device Information
952
Saving and Restoring Configurations
953
Overview
953
Usage
954
Restore Configuration
954
Save Configuration
955
Parameters
955
Resources
956
System Integration Guidelines
957
Drive Sizing
958
Requirements of the Application
958
Application Requirements
958
Servo Drive Output
959
Servo Drive Consumption
960
Calculating the Phase Current
960
Nonlinearity Buffer
960
Choosing a Power Supply
961
Supply Voltage Definitions
961
Regenerated Voltage
961
Bus Capacitance
962
Power Supply Sizing
963
Calculating the Amperage
964
Contactors Behind the Power Supply
965
Earthing
966
Overview
966
What Is Earthing or Grounding in an Electrical System
966
Hazards of Electricity
966
Earthing Concepts
967
Protective Earth
967
Functional Earth
967
Extra Low Voltage Systems
968
SELV, PELV, FELV Power Supplies
968
Earthing Connections in SOMANET Products
969
Earthing Consideration (Guidelines)
969
Regenerative Energy
971
Estimation of Regenerated Energy
971
Braking Chopper
971
Measuring the Brake Output Voltage
973
Non-Safety Brake Output
974
Safety Brake Output
975
Configuring Analog Inputs
976
Overview
976
Measuring Analog Input Voltages
976
Single-Ended Input
976
Differential Input
977
Example for Normal Values (on SOMANET Node)
978
Examples of Faulty Values
980
Temperature Sensor Input
981
Internal Resistance
981
Using Statusword and Controlword
982
Overview
982
What Are Control- and Statusword
982
How Are They Used
982
Manufacturer and Operation Mode Specific Bits
982
Bits in Status- and Controlword
983
Statusword
983
General Structure
983
Mode Specific Bits of the Statusword
985
Internal Limit Active Bit
985
Controlword
986
General Structure
986
Mode Specific Bits of the Controlword
987
Timing Diagram
987
Temperature Sensors
989
Types of Temperature Sensors
989
Thermocouple
989
Thermistors
989
Resistance Temperature Detectors
990
Pull-Up Resistor Selection
990
Polynomial or Quintic Function
994
Polynomial Coefficients
997
Replacing a SOMANET Drive
999
Overview
999
Availability of the Configuration File
999
SOMANET Node and SOMANET Circulo with External Encoders
1000
Save Configuration File
1000
Replace the Node
1001
Update Firmware
1001
Load the Configuration File
1001
Run Offset Detection
1003
Save the Configuration to the Drive
1004
SOMANET Circulo with at Least One Internal Encoder
1004
Save the Configuration File
1004
Mark a Reference Position on Your Axis
1005
Replace Circulo
1006
Load Calibration Firmware
1006
Load the Configuration File
1006
Run Offset Detection
1007
Re-Tune the Drive
1007
Run Calibration
1008
Load Production Firmware
1008
Run Offset Detection and Save Offset to Device
1008
Test Stable Operation
1009
Check Zero Position
1009
Tutorials
1010
Tuning Guides
1011
Velocity PID Tuning
1012
PID Parameter Range
1012
Recommended Tuning Steps
1012
Parameter Tuning Guide for Position Controller with Gain Scheduling
1016
Introduction
1016
Control Basics
1017
Tuning Concept in Brief
1018
Tuning Steps
1018
Parameter Tuning Guide for Position Controller with Cascaded Structure
1019
Introduction
1019
Control Basics
1020
Tuning Concept in Brief
1020
Tuning Steps
1021
Drive Operations through File Access over Ethercat (Foe)
1022
Overview
1022
Updating the Firmware
1022
Prerequisite
1023
Setup Information
1023
Preparation
1023
Steps of Operation
1023
Uploading a Drive Configuration
1025
Setup Information
1025
Steps of Operation
1026
About this Documentation
1030
Warnings
1030
Reporting Errors
1030
Using Offline Documentation
1031
Versioning
1031
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