SYNAPTICON SOMANET Circulo 7

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An example of velocity control loop 10 Hz sine wave tracking with a requested bandwidth of 80 Hz:

Synapticon Documentation

Main Page

Method1
Table of Contents2
Encoder Port2
Hardware Manuals25
Handling Instructions31
Electrostatic Discharge31
Magnetic Sensitive Devices32
SOMANET Circulo33
Overview35
Technical Specifications38
Power Specification38
General Specification38
Optional Integrated Encoders40
Accuracy and Repeatability of the Integrated Encoders42
Optional Integrated Brake43
Ordering Information44
Load Cycle45
Thermal Mounting Considerations46
Current as a Function of Mounting Temperature47
Ambient Air49
Downloads50
Documents50
CAD Files50
Installation Guide51
Wiring Instructions52
Power and Brake54
Supply and Phases54
Connecting a Brake57
Encoders and IO59
Encoder Overview59
Analog Input60
Encoder Ports61
Digital IO66
Ethercat / STO-SBC in & out68
Analog Input Specification73
Differential73
Single-Ended74
Temperature Sensor75
Specification for the Single-Ended Temperature Sensor Input77
Battery for Multi-Turn79
Suitable Batteries79
Power Consumption of Multi-Turn80
Ethercat-STO Cable81
Overview81
Pinout of the Connectors82
Instructions for Manufacturing the Cables84
Maximum Cable Lengths90
Mating Parts91
Connector Details and Mating Part Numbers91
Mechanical Integration93
Circulo Mounting Example94
Mounting the Encoder Disc95
Mounting a Hollow-Shaft Secondary Bearing96
Routing the Motor Phase Cables97
Dimensions and Drawings99
Dimensions99
Weight and Inertia of the Encoder Rings103
Drilling Patterns103
Mounting a Bearing106
Side View with Phase Connectors107
Mounting Encoder Rings109
Axial Distance Tolerances109
Planar Displacements111
Encoder Calibration113
Encoder Accuracy114
Narrow Angle Errors (Encoder System-Specific Non-Linearity)115
Wide Angle Error (Installation-Dependent Non-Linearity)116
Detecting the Encoder Non-Linearity117
Calibration Procedure118
Prerequisite118
Performing the Procedure118
Troubleshooting123
Encoder System Diagnostic125
LED Signals131
Overview131
Legend131
Status LED132
Firmware132
Bootloader133
Ethercat LED133
Safety Functions (STO-SBC)134
Safety Specifications135
System Requirements135
Technical Specifications135
Safety Connectors138
Wiring the Safety Inputs139
Cabling Lenghts139
Connection Diagrams for the STO Inputs139
Manual Switch + Drives140
Safety PLC PM (Plus-Minus Output) + Drives140
Safety PLC PP (Plus-Plus Output) + Drives141
Connection Diagram for the Brake141
Using the Safety Functions142
Timing Diagrams142
Timing Diagram for STO-Function Without Connected Brake142
Timing Diagram for STO-Function with SBC-Function143
Truth Table for Digital Inputs145
Diagnostic Functions145
Software Diagnostics145
STO-SBC Status Register145
Examples for Realising Safety Functions147
Emergency Stop148
Stop Category 1 Emergency Stop (Safe Stop 1)149
Prerequisites149
Wiring150
Configuration150
Verification151
Prevention of Unexpected Start-Up152
Commissioning and Maintenance153
Commissioning153
Maintenance153
Changelog of the Safety-Related Documentation154
SOMANET Node155
Overview156
Technical Specifications157
Power Specifications157
General Specifications157
Load Cycle160
Thermal Mounting Considerations161
Downloads163
Documents163
CAD Files163
Installation Guide164
Wiring Instructions165
Overview of Connectors165
Power and Brake166
Pinout Power Terminal166
Connecting a Brake169
Encoders and IO171
Encoder Port171
Encoder Port 3 / Digital IO173
Analog in174
Ethercat Port178
Connector Details and Mating Parts Numbers180
Mounting Instructions181
Heat Dissipation181
Dimensions181
Interference with Magnetic Fields183
On-Site Installation Guide (UL)184
Branch Fuse Required184
Field Wiring Terminal Marking185
Downloads186
LED Signals187
Overview187
Legend187
Core LED188
Firmware188
Bootloader189
Drive LED189
Com LED190
SOMANET Node Safety (Original Instructions)191
Dimensions192
Specifications of the Safety Functions193
System Requirements193
Technical Specifications193
Block Diagram195
Setup of the Safety Functions196
Connecting the STO/SBC Inputs197
STO/SBC Input Port197
Wiring Examples for the STO/SBC Inputs198
Connection Diagram for the Brake200
Brake Power Output (STO/SBC)201
Connector Mating Parts and Cable Lengths202
Using the Safety Functions203
Timing Diagrams203
Timing Diagram for STO-Function Without Connected Brake203
Timing Diagram for STO-Function with SBC-Function204
Truth Table for Digital Inputs206
Diagnostic Functions206
Fault Diagnostics206
Fault Reaction206
Resetting Diagnostic Faults207
STO-SBC Status Register207
Examples for Realising Safety Functions209
Prevention of Unexpected Start-Up209
Stop Category 0 (STO)209
Stop Category 1 (SS1)210
Prerequisites210
Wiring211
Configuration211
Verification212
Commissioning and Maintenance213
Commissioning213
Maintenance213
Changelog of the Safety-Related Documentation214
SOMANET Accessories215
SOMANET Braking Chopper 48V 500W216
Overview216
Technical Specs217
Installing the Module and Setting the Threshold Voltage218
Connecting the Board to DC-BUS219
Suitable Cables219
Wiring219
Failsafe Behavior220
Multi-Board Option220
Led221
Dimensions222
Sin/Cos Encoder Cable Adapter223
Overview223
Block Diagram223
Connectors224
Encoder Connector Top224
Encoder Connector Bottom225
Interface Connector225
Mounting Remarks226
Strain Relief227
Soldered Cables227
Industrial I/O Cable Adapter228
Overview228
Block Diagram228
Pinouts230
Connector Details and Mating Parts230
Strain Relief231
Soldered Cables232
Attaching the Adapter232
Abi/Biss Encoder Cable Adapter233
Overview233
Block Diagram233
Connectors234
Encoder Connector Top234
Encoder Connector Bottom235
Interface Connector235
Mounting Remarks236
Strain Relief237
Soldered Cables237
Downloads237
Samples & Legacy Products238
Circulo Sample241
Technical Specifications243
Power Specification243
General Specification243
Optional Integrated Encoders244
Accuracy and Repeatability of the Encoder Rings246
Optional Integrated Brake247
Installation Guide248
Wiring Instructions249
Overview of Connectors249
Power Supply and Motor Brake250
Encoders and IO254
Temperature Sensor261
Mating Parts and Encoder Battery262
Dimensions and Mechanical Mounting265
Dimensions265
Drilling Patterns for Mounting268
Heat Dissipation271
Mounting Encoder Rings272
Aligning the Encoder Discs272
Mounting Tolerances275
Encoder Accuracy277
Wide Angle Error (Long Wave Error, Integral Nonlinearity)278
Narrow Angle Error (Short Wave Error, Differential Nonlinearity, Sub Divisional Error)278
LED Signals279
Overview279
Legend279
Core LED280
Firmware280
Bootloader281
Drive LED281
Ethercat LED282
Safety Functions (STO-SBC)283
Safety Specifications284
System Requirements284
Technical Specifications284
Block Diagram286
Wiring the Safety Inputs287
Connection Diagrams for the STO Inputs287
Connection Diagrams for the STO/SBC Feedback Output292
Connection Diagram for the Brake294
Using the Safety Functions295
Timing Diagrams295
Truth Table for Digital Inputs297
Diagnostic Functions297
STO-SBC Status Register298
Use Cases299
Commissioning and Maintenance300
Commissioning300
Maintenance300
Circulo Sample301
Technical Specifications304
Power Specification304
General Specification305
Optional Integrated Encoders306
Accuracy and Repeatability of the Integrated Encoders308
Optional Integrated Brake310
Ordering Information310
Installation Guide312
Wiring Instructions313
Power and Brake315
Encoders and IO321
Temperature Sensor335
Ethercat-STO Cable337
Mating Parts346
Dimensions and Mechanical Mounting348
Dimensions348
Drilling Patterns for Mounting351
Heat Dissipation354
Mounting Encoder Rings355
Aligning the Encoder Discs355
Mounting Tolerances357
Battery for Multi-Turn358
Mounting a Bearing360
Encoder Accuracy362
Wide Angle Error (Long Wave Error, Integral Nonlinearity)363
Narrow Angle Error (Short Wave Error, Differential Nonlinearity, Sub Divisional Error)363
Encoder Calibration364
Overview364
Prerequisite365
Encoder System Diagnostic365
Calibration Procedure367
LED Signals369
Overview369
Legend369
Status LED370
Firmware370
Bootloader371
Ethercat LED371
Safety Functions (STO-SBC)372
Safety Specifications373
System Requirements373
Technical Specifications373
Safety Connectors376
Wiring the Safety Inputs377
Cabling Lenghts377
Connection Diagrams for the STO Inputs377
Connection Diagram for the Brake379
Using the Safety Functions381
Timing Diagrams381
Truth Table for Digital Inputs383
Diagnostic Functions383
STO-SBC Status Register384
Examples for Realising Safety Functions385
Emergency Stop386
Stop Category 1 Emergency Stop (Safe Stop 1)387
Prevention of Unexpected Start-Up390
Commissioning and Maintenance391
Commissioning391
Maintenance391
Changelog of the Safety-Related Documentation392
SOMANET Node Rev393
Technical Specifications394
Power Specifications394
General Specifications394
Hardware Diagrams396
Ethercat Module396
Processor Module397
Drive Module398
Installation Guide399
Downloads399
Wiring Instructions400
Warning about Using Contactors Behind the Power Supply400
Connectors402
Power Terminal402
Encoder Port403
Encoder Port 3 / Digital IO405
Analog in406
Ethercat Port407
Connector Types and Mating Parts Numbers409
Grounding and Connecting a Brake410
Connecting a Brake410
Mounting Instructions412
Heat Dissipation412
Dimensions412
Interference with Magnetic Fields413
LED Signals415
Overview415
Legend415
Core LED416
Firmware416
Bootloader417
SOMANET Node Rev418
Technical Specifications419
Power Specifications419
General Specifications420
Hardware Diagrams422
Ethercat Module422
Processor Module423
Drive Module424
Installation Guide425
Wiring Instructions426
Warning about Using Contactors Behind the Power Supply426
Connectors428
Ethercat IN/OUT428
Power Terminal429
Encoder Port430
Encoder Port 3 / Digital IO432
Analog in433
Ethercat Port434
Connector Types and Mating Parts Numbers435
Grounding and Connecting a Brake437
Connecting a Brake437
Mounting Instructions438
Heat Dissipation438
Dimensions438
Interference with Magnetic Fields439
LED Signals440
Overview440
Legend440
Core LED441
Firmware441
Bootloader442
Commissioning and Tuning Guide443
OBLAC Drives Setup444
OBLAC Drives Box445
Connectors446
Installation447
Network Connection to the OBLAC Box449
Connection Host-PC ↔ Box by Wi-Fi450
Host-PC Connected to Internet by LAN Connection450
Box Connected to Internet by LAN Connection451
Host-PC and Box Not Connected to Internet452
Connection Host-PC ⇿ PC by LAN Cable452
LAN Connection Via Switch and Connection to a Network with DHCP Server452
LAN Connection Peer to Peer453
No Connection to OBLAC Update Server455
Offline Updates455
Open OBLAC Drives456
Update OBLAC Drives456
OBLAC Drives Virtual Machine457
Prerequisite457
Getting Started457
Connecting to OBLAC Drives463
Update OBLAC Drives466
Troubleshooting466
Using OBLAC Drives468
Installing the Latest Version468
User Interface Overview469
Save to Device469
Update Firmware469
Launch Setup Wizard470
Download Device Description XML470
Load Configuration File470
Save Configuration File470
Download Log470
Factory Reset470
Using Keyboard Shortcuts471
Quick Open471
Set up Your Servo Drive472
Motion Control Tuning479
Overview of the Tools479
Auto-Tuning481
Concept of Auto-Tuning481
Goal of Position Auto-Tuning481
Goal of Velocity Auto-Tuning482
System Identification483
Prerequisites483
Limitations483
How to Use484
F.a.q486
Position Auto-Tuning488
Prerequisites488
Limitations488
How to Use488
Next Steps493
F.a.q493
Velocity Auto-Tuning495
Prerequisites495
Limitations495
How to Use495
Next Steps498
F.a.q498
Manual Tuning499
Manual Tuning of the Current Controller500
Manual Tuning Guide500
Manual Tuning of the Velocity Control Loop502
Manual Tuning of the Position Control Loop: Cascaded Controller503
Test a Drive at the Playground504
Prerequisites504
Applying Torque to a Motor504
Rotate a Motor at Defined Velocities505
Rotate a Motor to Defined Positions505
Update/Downgrade OBLAC Drives507
Troubleshooting508
Virtualization Not Activated508
Memory Warning509
Runtime Issues509
Other Issues510
Software Reference512
Software Reference Manual V5.0520
Firmware Overview523
Functionality Description524
Canopen over Ethercat (Coe)525
Drive State Machine (Cia 402)525
Pdo526
PDO Configuration526
Sdo526
Actuator Configuration527
Motor and Gear Settings528
Motor Configuration528
Pole Pairs528
Torque Constant528
Phase Resistance529
Phase Inductance529
Errors in Phase Resistance and Inductance530
Motor Phases Inverted530
PWM Frequency531
Gear Ratio531
Advanced Configurations531
Parameters532
Generic Brake Output Voltage533
Overview533
Usage533
Limitations534
Parameters534
Brake Configuration535
Pin-Brake Mode536
Timing Diagram536
Brake PWM Frequency538
Custom Brake Modes538
Parameters538
User Defined Velocity Units539
Overview539
Usage540
Objects Affected540
Example541
Parameters541
Commutation Offset Detection543
Overview543
Basic Principles543
Requirements545
Load Requirements545
Autophasing Methods546
Method546
Method547
Common Use Cases548
Usage549
Tuning Gains (Method 1)550
Parameters550
Power Limit552
Overview552
Requirements552
Detailed Description552
Parameters553
Encoders and I/O554
Analog in555
Using Single-Ended Sensors on Differential Inputs555
Nonlinear Conversion555
Parameters555
Analog Input Scaling556
Requirements556
Usage556
Wiring557
Software Configuration557
Thresholds558
Polynomial559
Digital I/O560
Configuration of Digital I/Os as Input or Output560
Using Digital I/Os for Input Actions or Output Events560
Parameters560
Digital GPIO561
Overview561
Usage562
Manual Configuration563
General Purpose In- and Output (GPIO)563
Using Digital GPIO with Home Switches and Limit Switches564
Input Actions566
Output Events567
Parameters569
Encoder Configuration570
Parameter Description570
Function570
Resolution570
Zero Velocity Threshold570
Polarity571
Multiturn Resolution571
Parameters571
Commutation with Hall and ABI Combined572
Overview572
Requirements572
Usage572
Detailed Description573
Startup573
Error Detection573
Runtime574
Input Counter575
Overview575
Limitations575
Parameters576
Protection577
Overview577
Usage577
Parameters577
Errors and Warnings578
Error Codes Thrown by the Firmware579
Error Report Object580
Remedies for Protection Errors604
Remedy for Over-Current604
Remedy for Over-Voltage604
Remedy for Under-Voltage605
Remedy for Over-Temperature605
Logging606
Overview606
Types606
Format607
Motion Control608
Control Loops610
Current and Torque Control Loop611
Torque Control Loop611
Parameters614
Velocity Control Loop615
Parameters617
Position Control Loops618
Cascaded PID Controller618
Simple PID Controller620
Dual Loop Cascaded Position Control622
Overview622
Usage623
Parameters623
Modes of Operation624
Cyclic Modes625
Cyclic Synchronous Torque Mode626
Cyclic Synchronous Velocity Mode628
Cyclic Synchronous Position Mode631
Profile Modes634
Profile Position Mode635
Profile Velocity Mode643
Profile Torque Mode647
Homing Modes650
Overview650
Homing Methods650
Settings for Homing Mode655
How to Perform Homing657
Operation Mode Dependent Bits of Status- and Controlword659
Parameters660
Quick Stop661
Overview661
Usage661
Parameters664
Diagnostics Opmode665
Selecting and Switching the Modes666
Dynamic Op-Mode Switching666
Extended Control Functionalities667
Cogging Torque Compensation668
Overview668
Procedure669
Controlling the Feature Via Ethercat672
Subitems672
Parameters673
Field Weakening674
Anti-Windup Control676
Parameters677
Gain Scheduling678
Motor Overload Protection (I2T)680
Overview680
Requirements680
Description of Subitems for 0X200A681
Operating Principle681
Velocity Feed Forward682
Usage682
Using a Velocity Offset Additionally683
Object Used for Velocity Feed Forward683
Torque Offset684
Velocity Offset685
Filtering686
Overview686
Methods688
Application Guide689
Parameters690
Position and Velocity Feedback Low-Pass Filters691
Torque Loop Input Shaping Filter693
Command Smoothing and Interpolation695
Overview695
Side Effects695
Applications696
Detailed Description698
Control Supervision700
Timing Diagram of the Supervision Objects700
Following Error703
Following Error Window703
Target Reached Function705
Monitoring the Internal Variables707
Control Effort708
Parameters708
Distributed Clocks (DC Clocks)710
Overview710
Distributed Clock Configuration710
Parameters711
OS Command712
Overview712
Usage712
Cia 402 Object Dictionary714
List of All Objects715
0X1000 Device Type726
0X1001 Error Register727
0X1005 COB-ID SYNC728
0X1006 Communication Cycle Period729
0X1008 Manufacturer Device Name730
0X100A Manufacturer Software Version731
0X100C Guard Time732
0X100D Life Time Factor733
0X1010 Store Parameters734
0X1011 Restore Default Parameters735
0X1016 Consumer Heartbeat Time736
0X1017 Producer Heartbeat Time737
0X1018 Identity Object738
0X1019 Synchronous Counter Overflow Value739
0X1023 os Command740
0X1024 os Command Mode741
0X1400 Receive PDO1 Parameter742
0X1401 Receive PDO2 Parameter743
0X1402 Receive PDO3 Parameter744
0X1403 Receive PDO4 Parameter745
0X1600 Receive PDO1 Mapping746
0X1601 Receive PDO2 Mapping747
0X1602 Receive PDO3 Mapping748
0X1603 Receive PDO4 Mapping749
0X1800 Transmit PDO1 Parameter750
0X1801 Transmit PDO2 Parameter751
0X1802 Transmit PDO3 Parameter752
0X1803 Transmit PDO4 Parameter753
0X1A00 Transmit PDO1 Mapping754
0X1A01 Transmit PDO2 Mapping755
0X1A02 Transmit PDO3 Mapping756
0X1A03 Transmit PDO4 Mapping757
0X1C00 Sync Manager758
0X1C10 SM 0 Assignment759
0X1C11 SM 1 Assignment760
0X1C12 SM 2 Assignment761
0X1C13 SM 3 Assignment762
0X2000 Command Object (Disabled)763
0X2001 Commutation Angle Offset764
0X2002 Position Control Strategy765
Selects the Control Structure Used for Position Control765
0X2003 Motor Specific Settings766
0X2004 Brake Options767
0X2006 Protection770
0X2008 Cogging Torque Compensation771
0X2009 Commutation Offset772
0X200A I2T775
0X200B Max Power776
0X2010 Torque Controller777
0X2011 Velocity Controller780
Velocity PID Tuning (Objects 2011:1780
0X2012 Position Controller782
Parameter Tuning Guide for Position Controller with Cascaded Structure782
Parameter Tuning Guide for Position Controller with Simple PID Structure (Objects 2012:1784
0X2013 Gain Scheduling786
0X2014 Torque Window789
0X2015 Velocity Feed Forward790
0X2021 Velocity Feedback Filter791
0X2022 Position Feedback Filter792
0X2023 Notch Filter793
0X2027 Control Input FIR Filter794
0X2030 Core Temperature795
0X2031 Drive Temperature796
0X2038 External Scaled Measurement797
0X203F Error Report799
0X2040 Input Counter823
0X20E1 High Resolution Data824
0X20F0 Timestamp826
0X20F2 Assigned Name827
0X20F3 DC Synchronization828
0X2110 Encoder 1 Configuration829
All Encoders829
All Encoders830
Biss/Ssi830
Incremental Encoder830
Hall Sensor/Nikon A-Format/Rem16Mt/Sincos Module830
All Encoders831
Absolute Encoders (Biss/Ssi/Nikon A-Format/Rem 16MT)831
Incremental Encoder832
Biss/Ssi832
Nikon A-Format832
Biss833
Ssi833
Biss/Ssi/Nikon A-Format834
Biss/Ssi834
Nikon A-Format834
Biss/Ssi835
Biss835
Biss836
Ssi836
Ssi837
Incremental Encoder/Sincos Module837
Incremental Encoder838
Sincos Module838
Sincos Module839
Rem 16Mt840
0X2111 Encoder 1 Feedback841
0X2112 Encoder 2 Configuration842
All Encoders842
All Encoders843
Biss/Ssi843
Incremental Encoder843
Hall Sensor/Nikon A-Format/Rem16Mt/Sincos Module843
All Encoders844
Absolute Encoders (Biss/Ssi/Nikon A-Format/Rem 16MT)844
Incremental Encoder845
Biss/Ssi845
Nikon A-Format845
Biss846
Ssi846
Biss/Ssi/Nikon A-Format847
Biss/Ssi847
Nikon A-Format847
Biss/Ssi848
Biss848
Biss849
Ssi849
Ssi850
Incremental Encoder/Sincos Module850
Incremental Encoder851
Sincos Module851
Sincos Module852
Rem 16Mt853
0X2113 Encoder 2 Feedback854
0X2210 GPIO Pin Configuration855
0X2211 GPIO Output Events866
0X2212 GPIO Input Actions867
0X2213 GPIO Position Trigger868
0X2214 GPIO Global Options869
0X2401 Analog Input870
0X2403 Analog Input872
0X2404 Analog Input873
0X2611 Safety Digital Input Diagnostics874
0X2701 Tuning Command875
0X2702 Tuning Status876
0X2703 User MOSI877
0X2704 User MISO878
0X2705 Setup Wizard Completed879
0X603F Error Code880
0X6040 Controlword881
0X6041 Statusword882
0X605A Quick Stop Option Code884
0X6060 Modes of Operation885
0X6061 Modes of Operation Display886
0X6062 Position Demand Value887
0X6064 Position Actual Value888
0X6065 Following Error Window889
0X6066 Following Error Time out890
0X6067 Position Window891
0X6068 Position Window Time892
0X606B Velocity Demand Value893
0X606C Velocity Actual Value894
0X606D Velocity Window895
0X606E Velocity Window Time896
0X606F Velocity Threshold897
0X6070 Velocity Threshold Time898
0X6071 Target Torque899
0X6072 Max Torque900
0X6073 Max Current901
0X6074 Torque Demand902
0X6075 Motor Rated Current903
0X6076 Motor Rated Torque904
0X6077 Torque Actual Value905
0X6079 DC Link Circuit Voltage906
0X607A Target Position907
0X607B Position Range Limit908
0X607C Home Offset909
0X607D Software Position Limit910
0X607E Polarity911
0X6080 Max Motor Speed912
0X6081 Profile Velocity913
0X6083 Profile Acceleration914
0X6084 Profile Deceleration915
0X6085 Quick Stop Deceleration916
0X6086 Motion Profile Type917
0X6087 Torque Slope918
0X6088 Torque Profile Type919
0X6091 Gear Ratio920
0X6098 Homing Method921
0X6099 Homing Speeds922
0X609A Homing Acceleration923
0X60A9 si Unit Velocity924
0X60B1 Velocity Offset925
0X60B2 Torque Offset926
0X60F4 Following Error Actual Value927
0X60Fa Control Effort928
0X60Fc Position Demand Internal Value929
0X60Fd Digital Inputs930
0X60Fe Digital Outputs931
0X60Ff Target Velocity932
0X6502 Supported Drive Modes933
0X6621 Safety Statusword934
Communication Area935
Process Data Objects939
Standard Rxpdo Mapped Objects940
Standard Txpdo Mapped Objects941
Advanced PDO Mapping942
Changing the Content of an Object942
Manufacturer Specific Area944
Profile Specific Area950
Device Information952
Saving and Restoring Configurations953
Overview953
Usage954
Restore Configuration954
Save Configuration955
Parameters955
Resources956
System Integration Guidelines957
Drive Sizing958
Requirements of the Application958
Application Requirements958
Servo Drive Output959
Servo Drive Consumption960
Calculating the Phase Current960
Nonlinearity Buffer960
Choosing a Power Supply961
Supply Voltage Definitions961
Regenerated Voltage961
Bus Capacitance962
Power Supply Sizing963
Calculating the Amperage964
Contactors Behind the Power Supply965
Earthing966
Overview966
What Is Earthing or Grounding in an Electrical System966
Hazards of Electricity966
Earthing Concepts967
Protective Earth967
Functional Earth967
Extra Low Voltage Systems968
SELV, PELV, FELV Power Supplies968
Earthing Connections in SOMANET Products969
Earthing Consideration (Guidelines)969
Regenerative Energy971
Estimation of Regenerated Energy971
Braking Chopper971
Measuring the Brake Output Voltage973
Non-Safety Brake Output974
Safety Brake Output975
Configuring Analog Inputs976
Overview976
Measuring Analog Input Voltages976
Single-Ended Input976
Differential Input977
Example for Normal Values (on SOMANET Node)978
Examples of Faulty Values980
Temperature Sensor Input981
Internal Resistance981
Using Statusword and Controlword982
Overview982
What Are Control- and Statusword982
How Are They Used982
Manufacturer and Operation Mode Specific Bits982
Bits in Status- and Controlword983
Statusword983
General Structure983
Mode Specific Bits of the Statusword985
Internal Limit Active Bit985
Controlword986
General Structure986
Mode Specific Bits of the Controlword987
Timing Diagram987
Temperature Sensors989
Types of Temperature Sensors989
Thermocouple989
Thermistors989
Resistance Temperature Detectors990
Pull-Up Resistor Selection990
Polynomial or Quintic Function994
Polynomial Coefficients997
Replacing a SOMANET Drive999
Overview999
Availability of the Configuration File999
SOMANET Node and SOMANET Circulo with External Encoders1000
Save Configuration File1000
Replace the Node1001
Update Firmware1001
Load the Configuration File1001
Run Offset Detection1003
Save the Configuration to the Drive1004
SOMANET Circulo with at Least One Internal Encoder1004
Save the Configuration File1004
Mark a Reference Position on Your Axis1005
Replace Circulo1006
Load Calibration Firmware1006
Load the Configuration File1006
Run Offset Detection1007
Re-Tune the Drive1007
Run Calibration1008
Load Production Firmware1008
Run Offset Detection and Save Offset to Device1008
Test Stable Operation1009
Check Zero Position1009
Tutorials1010
Tuning Guides1011
Velocity PID Tuning1012
PID Parameter Range1012
Recommended Tuning Steps1012
Parameter Tuning Guide for Position Controller with Gain Scheduling1016
Introduction1016
Control Basics1017
Tuning Concept in Brief1018
Tuning Steps1018
Parameter Tuning Guide for Position Controller with Cascaded Structure1019
Introduction1019
Control Basics1020
Tuning Concept in Brief1020
Tuning Steps1021
Drive Operations through File Access over Ethercat (Foe)1022
Overview1022
Updating the Firmware1022
Prerequisite1023
Setup Information1023
Preparation1023
Steps of Operation1023
Uploading a Drive Configuration1025
Setup Information1025
Steps of Operation1026
About this Documentation1030
Warnings1030
Reporting Errors1030
Using Offline Documentation1031
Versioning1031

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Table of Contents

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