SYNAPTICON SOMANET Node 400 Manual de usuario

SOMANET Node rev.

E.1

Documentation v 4.10.2 | Built 2021-07-06

Table of Contents
1 SOMANET Node rev. E.1
1.1 Technical Specifications
1.1.1 Power Specifications
1.1.2 General specifications
1.1.3 Maximum values
1.1.4 Load cycle
1.2 Downloads
1.2.1 Documents
1.2.2 CAD Files
1.3 Hardware Diagrams
1.3.1 EtherCAT module
1.3.2 Processor module
1.3.3 Drive module
1.4 Installation Guide
1.4.1 Wiring instructions
1.4.1.1 Overview of connectors
1.4.1.2 Power supply, phases and brake
1.4.1.2.1 Pinout Power Terminal
1.4.1.2.1.1 Notes about choosing the supply voltage
1.4.1.2.1.2 Using a PELV or SELV power supply
1.4.1.2.1.3 Warning about using contactors behind the power supply
1.4.1.2.2 Connecting a Brake
1.4.1.3 Encoders and IO
1.4.1.3.1 Encoder Port 1
1.4.1.3.2 Encoder Port 2
1.4.1.3.3 Encoder Port 3 / Digital IO
1.4.1.3.4 Analog IN
1.4.1.3.4.1 Analog input specification
1.4.1.3.4.2 Analog input resistance
1.4.1.3.4.3 Attaching a voltage divider
1.4.1.3.5 EtherCAT port
1.4.1.3.5.1 EtherCAT IN Port
1.4.1.3.5.2 EtherCAT OUT Port
1.4.1.4 Connector details and mating parts numbers
1.4.2 Mounting instructions
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Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1
© 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich   Documentation v 4.10.2 | Built 2021-07-06 2/67

1.4.2.1 Heat dissipation
1.4.2.2 Thermal mounting considerations
1.4.2.3 Dimensions
1.4.2.4 Interference with magnetic fields
1.4.3 On-site installation guide (UL)
1.4.3.1 Branch fuse required
1.4.3.2 Field wiring terminal marking
1.4.3.3 Downloads
1.5 LED signals
1.5.1 Overview
1.5.1.1 Legend
1.5.2 Core LED
1.5.2.1 Firmware
1.5.2.2 Bootloader
1.5.3 Drive LED
1.5.4 Com LED
1.6 SOMANET Node Safety (Original instructions)
1.6.1 Dimensions
1.6.2 Specifications of the safety functions
1.6.2.1 System requirements
1.6.2.2 Technical specifications
1.6.2.3 Block diagram
1.6.3 Setup of the safety functions
1.6.3.1 Connecting the STO/SBC inputs
1.6.3.1.1 STO/SBC input port
1.6.3.1.2 Wiring examples for the STO/SBC inputs
1.6.3.1.2.1 Manual switch
1.6.3.1.2.2 Safety PLC (plus-minus output)
1.6.3.1.2.3 Safety PLC (plus-plus output)
1.6.3.2 Connection diagram for the brake
1.6.3.2.1 Brake power output (STO/SBC)
1.6.3.3 Connector mating parts and cable lengths
1.6.4 Using the safety functions
1.6.4.1 Timing diagrams
1.6.4.1.1 Timing diagram for STO-function without connected brake
1.6.4.1.2 Timing diagram for STO-function with SBC-function
1.6.4.2 Truth table for digital inputs
1.6.4.3 Diagnostic functions
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Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1
© 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich   Documentation v 4.10.2 | Built 2021-07-06 3/67

1.6.4.3.1 Fault diagnostics

1.6.4.3.2 Fault reaction

1.6.4.3.3 Resetting diagnostic faults

1.6.4.4 STO-SBC status register

1.6.5 Examples for realising safety functions

1.6.5.1 Prevention of unexpected start-up

1.6.5.2 Stop category 0 (STO)

1.6.5.3 Stop category 1 (SS1)

1.6.5.3.1 Prerequisites

1.6.5.3.2 Wiring

1.6.5.3.3 Configuration

1.6.5.3.4 Verification

1.6.6 Commissioning and maintenance

1.6.6.1 Commissioning

1.6.6.2 Maintenance

1.6.7 Changelog of the safety-related documentation

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

1 SOMANET Node rev. E.1

Attention

When dealing with electronic devices, always consider these handling instructions!

Technical specifications

Downloads

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 (UL)

LED signals

Safety functions (STO-SBC)

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

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

Nominal Supply Voltage ** 12-48 V DC

Maximum Supply Voltage ** 60 V DC

Minimum Supply Voltage ** 10 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 %

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

* Information about the maximum values can be found below.

** 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.

**** Details for the Maximum Continuous Phase Current and the Load cycles can be found below

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, 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 (EN 55011:2016)

IEC 61000-4-6:2013

IEC 61000-4-3:2020

IEC 61000-4-2:2008

IEC 61000-4-8:2009

IEC 61800-5-1:2007

IEC 60204-1:2016

Compliance with European

directives

CE (EMC Directive 2014/30/EU)

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

Certificates UL listed (Node 400, Node 1000 with soldered cables, Node 2000

with soldered cables)

UL recognized (Node 1000, Node 2000)

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]

[2]

[3]

[4]

[5]

[6]

Currently not supported by our standard software. Can be developed upon request, please contact

sales@synapticon.com

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

Upon Request

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

sales@synapticon.com

Depends on the firmware used. Value given for v4.1

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.

1.1.3 Maximum values

The given maximum 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.

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

1.1.4 Load cycle

The maximum peak current is achievable for at least 10 seconds. The maximum allowable duty cycle

depends on the cooling situation and load cycle profile. Under standard conditions (150 mm * 200 mm

* 20 mm aluminium plate, 20° C ambient temperature, square wave load cycle alternating between 0

and max current), a duty cycle of 10% is achievable. The value can be higher for optimized system

setups, e.g. 25% when using a SOMANET Node variant with directly soldered power wires or up to

100% if the mounting plate is actively cooled additionally. Please contact support@synapticon.com

for details.

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

1.2 Downloads

1.2.1 Documents

DECLARATION OF CONFORMITY SOMANET NODE SAFETY

EC-TYPE EXAMINATION SOMANET NODE SAFETY

CERTIFICATE SOMANET NODE SAFETY

1.2.2 CAD Files

3D MODEL SOMANET NODE

3D MODEL SOMANET NODE SAFETY

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

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