SYNAPTICON SOMANET Circulo Series User manual

Encoders and IO

Documentation v 3.3.4 | Build: 2020-07-17

Table of Contents

1 Encoders and IO

1.1 Connector overview

1.2 Analog Input

1.3 External Encoder

1.3.1 Possible Combinations

1.4 Digital IO

1.5 Safety STO-SBC

1.6 Encoder Battery (for multi-turn)

1.7 EtherCAT In/Out

Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.

A.2) / Installation Guide / Wiring instructions / Encoders and IO

1 Encoders and IO

1.1 Connector overview

1.2 Analog Input

Pin # Signal

1 Differential +5 V

2 Differential -5 V

Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.

A.2) / Installation Guide / Wiring instructions / Encoders and IO

3 Ground

4 Single-ended 0-10 V

5 +5 V*

6 +10 V**

* This is a 5 V supply that can provide up to 100 mA for external use.

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

short.

** This is a 10 V supply that can provide up to 25 mA for external use.

The supply is protected against short to ground and keeps the current below 100mA in a continuous

short.

Error Before Calibration: 1.5%

1.3 External Encoder

Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.

A.2) / Installation Guide / Wiring instructions / Encoders and IO

1.3.1 Possible Combinations

Supported

Encoders Config. 1 * Config. 2 Config. 3 Config. 4

Config.

Internal

Encoder 1

BiSS BiSS

Internal

Encoder 2

BiSS Disabled

External

Encoder

ABI (Differential or

Single-Ended) or

HALL

BiSS (Differential) SSI (Differential) Half Duplex

(Differential)

HALL

* Only 2 out of the 3 Encoders can be used at the same time.

Pin #

ABI

(Differential)

ABI

(Single-

Ended) BiSS

(Differential)

SSI

(Differential)

Half-Duplex

(Differential) HALL

1 MA- Clock- SD- / A

2 5 V 5 V 5 V 5 V 5 V 5 V

3 Ground Ground Ground Ground Ground Ground

4 MA+ Clock+ SD+ / B

5 A- A SLO- Data- H3 / C

6 A+ SLO+ Data+

7 B- B H2 / B

8 B+

9 I- I H1 / A

10 I+

Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.

A.2) / Installation Guide / Wiring instructions / Encoders and IO

1.4 Digital IO

Pin GPIO Logic level

REM

14/16MT

BiSS

(LVTTL) SSI (LVTTL) SPI

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

2 Digital IO 1 Configurable as

3.3 V or 5 V

SCK SLO Data SCK

3 Digital IO 2 Configurable as

3.3 V or 5 V

MISO MA Clock MISO

4 Ground Ground Ground Ground Ground Ground

5 Digital IO 3 Configurable as

3.3 V or 5 V

MOSI MOSI

6 Digital

output 4 **

Configurable as

3.3 V or 5 V

SS SS

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

8 Digital IO 5 Configurable as

3.3 V or 5 V

9 Digital IO 6 Configurable as

3.3 V or 5 V

10 Digital input

24 V

* 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.

** Current output capacity of all configured digital outputs is ±20 mA (Sink and source)

Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.

A.2) / Installation Guide / Wiring instructions / Encoders and IO

*** 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

The Digital I/Os are

The Digital I/Os are globally

globally configurable as 3.3 V or 5 V.

configurable as 3.3 V or 5 V.

This configuration is done in object 0x2214 “GPIO global options”

Note

Each Digital

Each Digital IO

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

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.

1.5 Safety STO-SBC

Pin # Signal

1 STO/SBC1 input 1

2 STO/SBC2 input 2

3 Safety Ground

4 PE

5 STO/SBC Feedback +

6 STO/SBC Feedback -

Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.

A.2) / Installation Guide / Wiring instructions / Encoders and IO

Wiring diagrams for the safety digital inputs

Attention

When not using the STO-SBC feature, the function must be bypassed by bridging the jumpers:

1.6 Encoder Battery (for multi-turn)

Pin # Signal

1 +V_BAT

2 Ground

For selecting a suitable battery, please check these notes.

Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.

A.2) / Installation Guide / Wiring instructions / Encoders and IO

1.7 EtherCAT In/Out

Pin # Signal

1 RX+

2 RX-

3 Shield / PE

4 TX+

5 TX-

Hardware Manuals / SOMANET Circulo / SOMANET Circulo (rev.

A.2) / Installation Guide / Wiring instructions / Encoders and IO

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