SYNAPTICON SOMANET Node 1000 User manual

SOMANET Node rev.

E.1

Documentation v 3.2.0 | Build: 2020-05-25

Table of Contents
1 SOMANET Node rev. E.1
1.1 Technical Specifications
1.1.1 Power Specifications
1.1.2 General specifications
1.2 Hardware Diagrams
1.2.1 EtherCAT module
1.2.2 Processor module
1.2.3 Drive module
1.3 Installation Guide
1.3.1 Wiring instructions
1.3.1.1 Overview of connectors
1.3.1.2 Power supply, phases and brake
1.3.1.2.1 Pinout Power Terminal
1.3.1.2.1.1 Notes about choosing the supply voltage
1.3.1.2.1.2 Using a PELV or SELV power supply
1.3.1.2.1.3 Warning about using contactors behind the power supply
1.3.1.2.2 Connecting a Brake
1.3.1.3 Encoders and IO
1.3.1.3.1 Encoder Port 1
1.3.1.3.2 Encoder Port 2
1.3.1.3.3 Encoder Port 3 / Digital IO
1.3.1.3.4 Analog IN
1.3.1.3.5 EtherCAT port
1.3.1.3.5.1 EtherCAT IN Port
1.3.1.3.5.2 EtherCAT OUT Port
1.3.1.4 Connector details and mating parts numbers
1.3.2 Mounting instructions
1.3.2.1 Heat dissipation
1.3.2.2 Thermal mounting considerations
1.3.2.3 Dimensions
1.3.2.4 Interference with magnetic fields
1.3.2.5 Downloads
1.3.3 On-site installation guide
1.3.3.1 Field wiring terminal marking
1.4 LED signals
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Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1
© 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich   Documentation v 3.2.0 | Build: 2020-05-25 2/60

1.4.1 Overview
1.4.1.1 Legend
1.4.2 Core LED
1.4.2.1 Firmware
1.4.2.2 Bootloader
1.4.3 Drive LED
1.4.4 Com LED
1.5 Safety Module rev A.3 (Original instructions)
1.5.1 Dimensions
1.5.2 CAD File
1.5.3 Downloads
1.5.4 Specifications of the safety functions
1.5.4.1 System requirements
1.5.4.2 Technical specifications
1.5.4.3 Block diagram
1.5.5 Safety connector pinouts and mating parts
1.5.5.1 Connector Pinout
1.5.5.1.1 Safe digital I/O port
1.5.5.1.2 Safe brake terminal
1.5.5.1.3 Connector types and mating parts numbers
1.5.6 Wiring the safety inputs
1.5.6.1 Disabling the safety functions
1.5.6.2 Cabling lenghts
1.5.6.3 Connection diagrams for the STO inputs
1.5.6.3.1 Manual switch + drives
1.5.6.3.2 Safety PLC PM (Plus-Minus output) + drives
1.5.6.3.3 Safety PLC PP (Plus-Plus output) + drives
1.5.6.4 Connection diagram for the brake
1.5.7 Using the safety functions
1.5.7.1 Timing diagrams
1.5.7.1.1 Timing diagram for STO-function without SBC
1.5.7.1.2 Timing diagram for STO-function with SBC-function
1.5.7.2 Truth table for digital inputs
1.5.7.3 Diagnostic functions
1.5.7.3.1 Fault diagnostics
1.5.7.3.2 Fault reaction
1.5.7.3.3 Resetting diagnostic faults
1.5.7.4 STO-SBC status register
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Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1
© 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich   Documentation v 3.2.0 | Build: 2020-05-25 3/60

1.5.8 Commissioning and maintenance

1.5.8.1 Commissioning

1.5.8.2 Maintenance

1.5.9 Examples for realising safety functions

1.5.9.1 Emergency stop

1.5.9.2 Stop category 1 emergency stop (Safe stop 1)

1.5.9.2.1 Prerequisites

1.5.9.2.2 Wiring

1.5.9.2.3 Configuration

1.5.9.2.4 Verification

1.5.9.3 Prevention of unexpected start-up

1.5.10 Changelog of the safety-related documentation

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Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1 SOMANET Node rev. E.1
Attention
Attention
When dealing with electronic devices, always consider 
When dealing with electronic devices, always consider 
these handling instructions!
these handling instructions!
Technical specifications
Hardware diagrams
Installation guide
Wiring instructions
Power supply, phases and brake
Encoders and IO
Connector types and mating parts numbers
Mounting instructions
On-site installation guide
LED signals
Safety Module
Specifications of the safety functions
Safety connectors
Wiring the safety inputs
Using the safety functions
Examples for realising safety functions
Emergency stop
Safe Stop 1
Prevention of unexpected start-up
Commissioning and maintenance
Changelog of the safety-related documentation
Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1
© 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich   Documentation v 3.2.0 | Build: 2020-05-25 5/60

1.1 Technical Specifications

1.1.1 Power Specifications

Power Specifications

Node Size Node 400 Node 1000 Node 2000

Maximum Peak Output Power 415 W 1,040 W 2,080 W

Maximum Continuous Output Power * 415 W 1,040 W 1,200 W

Rated Supply Voltage ** 12-48 V DC

Maximum Supply Voltage ** 60 V DC

Minimum Supply Voltage ** 8 V DC

Maximum Input Current DC 9.6 A DC 24 A DC 48 A DC

Maximum Phase Current RMS 13.2 A RMS 33 A RMS 66 A RMS

Maximum Continuous Phase Current RMS * 13.2 A RMS 33 A RMS 36 A RMS

Efficiency (at Maximum Power) 98 %

Standby Power Consumption 0.4 W

Brake control power output 0-48 V PWM Phase D ***

* These values can be achieved with a motor that is typical for robotic applications, reaching its

maximum power at 60% of its RPM maximum.

This case is used as a realistic assumption to specify the datasheet value for power. Beyond that, the

servo drive itself is able to provide higher power, as it is able to drive its maximum voltage and its

maximum current at the same time.

In reality, no motor can consume both maximum values at the same time, so there is no operating point

of the overall system (motor + drive) that would actually use the theoretical maximum power of the drive.

As the calculation bases on a reference motor, there are setups with large motors that are able to even

exceed the values shown here.

The maximum continuous output power and phase currents are highly dependent on the cooling

situation. Please refer to our Thermal mounting considerations for details.

** The operating voltage is 12-48 V DC. The maximum supply voltage is only for buffering peaks when

braking. The minimum voltage is for configuration purposes only. Please refer to our power supply

instructions for details.

*** This is a fourth phase that can also be used for other purposes (see Manually controlling phase D

voltage) it has a maximum current of 10 A.

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.1.2 General specifications

General specifications

Supported Communication

Standard

EtherCAT

Number of Phases 4

Supported Motors 1 x 3-phase BLDC-Motor and 1 active brake

Up to 2 Brushed DC Motors

[1]

Brake control voltage 0-48 V PWM Phase D

Analog Inputs 4 (2 x single-ended 0-10V, 2 x differential ±5V)

[2]

Digital IOs 4 × GPIO / SPI

[3]

/ I C

[3]

(3.3 V CMOS logic)

[4]

Encoder Connectors 2 x 4ch. RS-422

Supported Standard Encoder

Interfaces

Incremental Encoder (ABI), HALL, BiSS-C, SSI, SPI

[3]

, I C

[3]

Supported Encoder Types Encoder Port 1

Incremental Encoder (ABI),

BiSS-C, SSI, Half-Duplex, A-

Format

Encoder Port 2

Incremental Encoder (ABI), HALL,

BiSS-C, SSI, I C

[3]

Incremental Encoder max

frequency

1.4 MHz

[5]

(supports up to 14,000 rpm with a 4,096 resolution

incremental encoder)

Hardware Protections Overcurrent, Overvoltage, Undervoltage, Temperature

Compliance with standards CISPR 11 Class B

IEC 61000-4-6

IEC 61000-4-3

IEC 61000-4-2

IEC 61000-4-8

Dimensions 70 x 40 x 23 mm

Weight 85 g (incl. Heatsink)

Operating temperature 0 °C

[6]

to 40 °C

Storage Temperature -35 to 85 °C

Max. installation altitude 2000 m

Humidity 5-85% rH

Sensors on-board DC-BUS Voltage, DC-BUS current, Phase Voltage, Phase current

(two phases measured, one computed), Temperature

[1] Currently not supported by our standard software. Can be developed upon request, please

contact sales@synapticon.com

2

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

[2] All Analog Inputs can be configured as single-ended 0-5 V, 0-10 V, 0-20 V or differential ±5 V,

±10 V independently. Upon request only, please contact sales@synapticon.com

[3] Upon Request

[4] Two Digital IO can be configured as 5.0 V CMOS logic. Upon request only, please contact

sales@synapticon.com

[5] Depends on the firmware used. Value given for v4.1

[6] The actual lowest temperature is limited by the dew point. This depends on several factors,

e.g. the ambient humidity and how quick the drive cools down after operation. Special care

must be taken when the servo drive is actively cooled below ambient temperature.

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.2 Hardware Diagrams

Due to the modular nature of SOMANET Node, the hardware diagrams of each module are listed

separately.

1.2.1 EtherCAT module

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.2.2 Processor module

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.2.3 Drive module

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.3 Installation Guide

This manual will guide you through the basic steps to get your SOMANET Node 400/1000/2000 EtherCAT

running.

Attention

When dealing with electronic devices, always consider

these handling instructions!

Important

For proper functionality of the current sensors the servo drive must not be exposed to external

magnetic fields, see our

mounting instructions

for details.

Wiring instructions

Power supply, phases and brake

Encoders and IO

Connector types and mating parts numbers

Mounting instructions

On-site installation guide

After you have successfully set up your servo drive you can proceed to commission and tune your drive:

Commissioning and tuning with OBLAC Drives

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.3.1 Wiring instructions

1.3.1.1 Overview of connectors

Power supply, phases and brake

Encoders and IO

Connector types and mating parts numbers

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.3.1.2 Power supply, phases and brake

1.3.1.2.1 Pinout Power Terminal

Important

The cable length for Main Power Supply (12-48 V) must not exceed 30 m.

Important

The motor and power cables must be twisted for EMC reasons.

Terminal

#

1 Phase A

2 Phase B

3 Phase C

4 Phase D - Brake output 0-48 V PWM

5 Ground

6 Main Power Supply 12-48 V

7 Optional Logic Ground

8 Optional Logic Supply 12-24 V *

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

Note

* this additional logic supply is not connected by default.

It is not required for normal operation.

For additional information, please contact

sales

@

synapticon

.

com

Note

SOMANET servo drives are densely packed with high-performance components. Even at idle/torque

off, several components such as power supplies, cause the servo drive to get warm, especially when

it’s not connected to any heat conducting structure. The servo drives’ power stages and control

algorithms were optimized for efficiency at high power output and actually make them one of the

most efficient servo drives available. The heat generation is not linear, which makes it actually more

noticeable at idle or low power. Please ensure by design of your mounting situation that the heat

interface is connected to sufficient structure to appropriately dissipate generated heat.

1.3.1.2.1.1 Notes about choosing the supply voltage

The indicated minimal supply voltage of 8 V is enough to power on the servo drive for configuration but

for turning a motor, a voltage above 12 V is required.

Note

Due to voltage drop from power supply to the servo drive is it not recommended to supply the servo

drive at absolute minimal voltages. If your system does not run at 12 V, increasing this value slightly

may be necessary.

1.3.1.2.1.2 Using a PELV or SELV power supply

It’s recommended to use a protected extra-low voltage supply (PELV) instead of a safety extra-low voltage

supply (SELV).

If a SELV is used, it’s possible that the isolation from the earth can be violated through our drive (e.g.

through heatsink or mechanical mountings) and the supply becomes PELV.

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.3.1.2.1.3 Warning about using contactors behind the power supply

Attention

Our servo drives are designed for voltages between 12 V and 48 V (60 V Max), they should be run

with an appropriate extra-low voltage supply. Please

do not use contactors behind the power

supply

since the transient-voltage-suppression diodes could get damaged due to the power-up

voltage increase (Surge). This is likely to happen when the power up occurs fast and

can lead to

complete failure

of your servo drive.

If contactors behind the power supply are used, it’s necessary to

include an uni-directional TVS

diode type 1.5KE62A-E3/54

* between Main Power Supply and Ground of the terminal.

* this model has been successfully tested by Synapticon. Other products with the same

specifications may also be appropriate but can’t be recommended.

In case you are running several servo drives behind a contactor, please use an uni-directional TVS diode

on each drive because of the inductances of the wiring.

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.3.1.2.2 Connecting a Brake

If your system has an attached brake, please connect the brake cables to Phase D and Ground. These

two threads should be twisted together or at least be paired to have a minimum area between them.

By default, Logic Supply is deactivated, it is therefore recommended to use Logic Ground (pin 7 of the

Main Supply Connector) for the brake.

If Logic Supply is active, Ground of the brake can be connected to the Ground cable of the 48V power

supply in a spot close to the board or it can be connected together with the Ground of the 48V supply to

the pin 5 of the Main Supply connector if they fit in there.

Important

Please make sure the servo drive is properly grounded. You can connect the heatsink to ground.

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.3.1.3 Encoders and IO

1.3.1.3.1 Encoder Port 1

# ABI * BiSS * SSI * Half-Duplex *

1 – MA- Clock- SD- / A

2 5 V ** 5 V ** 5 V ** 5 V **

3 Ground Ground Ground Ground

4 – MA+ Clock+ SD+ / B

5 A- SLO- Data- –

6 A+ SLO+ Data+ –

7 B- – – –

8 B+ – – –

9 I- – – –

10 I+ – – –

* This is a differential line according to RS422/RS485 standards

** This is a 5 V supply that can provide up to 250 mA for external use.

The supply is protected against short to ground and keeps the current below 400 mA in a continuous

short.

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.3.1.3.2 Encoder Port 2

# HALL

ABI

(differential)*

ABI (single-

ended)** BiSS * SSI *

1 – – – MA- Clock-

2 5 V *** 5 V *** 5 V *** 5 V *** 5 V ***

3 Ground Ground Ground Ground Ground

4 – – – MA+ Clock+

5 C/H3 A- A SLO- Data-

6 – A+ – SLO+ Data+

7 B/H2 B- B – –

8 – B+ – – –

9 A/H1 I- I – –

10 – I+ – – –

* This is a differential line according to RS422/RS485 standards

** This is a single-ended TTL line with 1 kOhm pull-up resistors

*** This is a 5 V supply that can provide up to 250 mA for external use.

The supply is protected against short to ground and keeps the current below 400 mA in a continuous

short.

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.3.1.3.3 Encoder Port 3 / Digital IO

# GPIO REM 14/16MT BiSS (LVTTL) SSI (LVTTL) SPI

1 3.3 V * 3.3 V * 3.3 V * 3.3 V * 3.3 V *

2 Digital IO 1** SS SLO Data SS/CS

3 Digital IO 2** SCK MA Clock SCK

4 Ground Ground Ground Ground Ground

5 Digital IO 3** MISO – – MISO

6 Digital IO 4** MOSI – – MOSI

7 5 V *** 5 V *** 5 V *** 5 V *** 5 V ***

8 – – – – –

All Digital IOs are 3.3 V LVTTL CMOS logic and can be used for data rates up to 20 Mbps.

* This is a +3.3 V supply that can provide up to 250 mA for external use.

The supply is protected against short to ground and keeps the current below 400mA in a continuous

short.

** Can be configured as 5.0 V CMOS logic. Upon request only, please contact sales@synapticon.com

*** This is a +5 V supply that can provide up to 250 mA for external use.

The supply is protected against short to ground and keeps the current below 400mA in a continuous

short.

Note

Each Digital IO needs to be configured as a Digital Input or Output via object 0x2210 (“GPIO”).

The object can also be used to activate a pull-down resistor.

Changes may require to powercycle the servo drive.

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

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