SYNAPTICON SOMANET Node Series Manual 

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 5 6 6 7 9 9 10 11 12 13 13 14 14 15 15 16 17 18 18 19 20 21 22 22 23 24 25 25 25 26 27 28 29 29 31 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

1.4.2.1 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 31 31 32 32 33 33 34 35 36 36 37 38 38 38 40 41 41 41 42 43 44 44 45 45 45 46 47 48 49 49 49 50 51 51 51 51 51 52 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

1.5.8.1 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 53 53 53 54 55 56 56 57 57 58 59 60 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 4/60

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

1.1.1 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 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 6/60

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 [email protected] 2 2 2 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 7/60

±10 V independently. Upon request only, please contact [email protected] [3] Upon Request [4] Two Digital IO can be configured as 5.0 V CMOS logic. Upon request only, please contact [email protected] [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 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 8/60

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 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 9/60

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 10/60

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 11/60

This manual will guide you through the basic steps to get your SOMANET Node 400/1000/2000 EtherCAT running. Attention Attention When dealing with electronic devices, always consider When dealing with electronic devices, always consider these handling instructions! these handling instructions! Important Important For proper functionality of the current sensors the servo drive must not be exposed to external For proper functionality of the current sensors the servo drive must not be exposed to external magnetic fields, see our magnetic fields, see our mounting instructions mounting instructions for details. 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 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 12/60

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 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 13/60

​1.3.1.2.1 Pinout Power Terminal Important Important The cable length for Main Power Supply (12-48 V) must not exceed 30 m. The cable length for Main Power Supply (12-48 V) must not exceed 30 m. Important Important The motor and power cables must be twisted for EMC reasons. 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 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 14/60

* this additional logic supply is not connected by default. It is not required for normal operation. It is not required for normal operation. For additional information, please contact For additional information, please contact sales sales@ @synapticon synapticon..com com Note Note SOMANET servo drives are densely packed with high-performance components. Even at idle/torque 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 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 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 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 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 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. 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 Note Due to voltage drop from power supply to the servo drive is it not recommended to supply the servo 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 drive at absolute minimal voltages. If your system does not run at 12 V, increasing this value slightly may be necessary. 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 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 15/60

Attention Attention Our servo drives are designed for voltages between 12 V and 48 V (60 V Max), they should be run 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 with an appropriate extra-low voltage supply. Please do not use contactors behind the power do not use contactors behind the power supply supply since the transient-voltage-suppression diodes could get damaged due to the power-up 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 voltage increase (Surge). This is likely to happen when the power up occurs fast and can lead to can lead to complete failure complete failure of your servo drive. of your servo drive. If contactors behind the power supply are used, it’s necessary to If contactors behind the power supply are used, it’s necessary to include an uni-directional TVS include an uni-directional TVS diode type 1.5KE62A-E3/54 diode type 1.5KE62A-E3/54* between Main Power Supply and Ground of the terminal. * between Main Power Supply and Ground of the terminal. * this model has been successfully tested by Synapticon. Other products with the same * this model has been successfully tested by Synapticon. Other products with the same specifications may also be appropriate but can’t be recommended. 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 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 16/60

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 Important Please make sure the servo drive is properly grounded. You can connect the heatsink to ground. 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 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 17/60

​1.3.1.3.1 Encoder Port 1 Pin # 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 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 18/60

Pin # 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 © 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25 19/60

Pin # 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 [email protected] *** 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 Note Each Digital IO needs to be configured as a Digital Input or Output via object 0x2210 (“GPIO”). 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. The object can also be used to activate a pull-down resistor. Changes may require to powercycle the servo drive. Changes may require to powercycle the servo drive. 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 20/60

Pin # Default Setting * 1 – 2 Analog Input 1 - Connect to Ground ** 3 Analog Input 1 + Single-ended 0-10 V 4 Ground 5 Analog Input 2 - Connect to Ground ** 6 Analog Input 2 + Single-ended 0-10 V 7 5 V *** 8 10 V **** 9 Analog Input 3 - Differential ±5 V 10 Analog Input 3 + Differential ±5 V 11 Analog Input 4 - Differential ±5 V 12 Analog Input 4 + Differential ±5 V * 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 [email protected] ** Must be connected to Ground when the Analog Input is set to Single-Ended Mode. It is recommended to use a separate ground cable for each single-ended analog signal/cable and twist or tie them together. *** 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. 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 21/60

​1.3.1.3.5 EtherCAT port 1.3.1.3.5.1 EtherCAT IN Port Pin Name Function 1 * TX+ Differential transmit pair, positive line 2 TX- Differential transmit pair, negative line 3 Shield 4 RX+ Differential receive pair, positive line 5 RX- Differential receive pair, negative line * Pin 1 is on left 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 22/60

Pin Name Function 1 * TX+ Differential transmit pair, positive line 2 TX- Differential transmit pair, negative line 3 Shield 4 RX+ Differential receive pair, positive line 5 RX- Differential receive pair, negative line * Pin 1 is on left 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 23/60

numbers Connector description Manufacturer Mating part Crimping Contact Cable Analog IN JST Sales America Inc. GHR-12V-S SSHL-002T-P0.2 26-30 AWG * Encoder Ports 1 & 2 TE Connectivity 1-215083-0 N/A Flat Cable 28 AWG P1.27 Port 3 (Digital IO) JST Sales America Inc. GHR-08V-S SSHL-002T-P0.2 26-30 AWG * Power Terminal Block Phoenix Contact N/A 5859 WH005 (Alpha Wire) EtherCAT IN/OUT Molex 510210500 ** 500588000 28-32 AWG * Crimped cable from JST Sales America can be used, Parts number: AGHGH28K305 Note Note ** Housing only. Please ensure to only use shielded cables for EtherCAT communication! ** Housing only. Please ensure to only use shielded cables for EtherCAT communication! Please also check out our dedicated Please also check out our dedicated EtherCAT node to PC cable EtherCAT node to PC cable which is specifically designed for this which is specifically designed for this purpose. purpose. 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 24/60

1.3.2.1 Heat dissipation For correct functioning, the servo drive must be installed on a sufficiantly dimensioned heat conducting surface made of a suitable material, such as aluminum. Ensure that the servo drive is screwed properly to the heat conducting surface to facilitate the heat transfer. ​1.3.2.2 Thermal mounting considerations While the maximum peak current is a fixed property of a servo drive, the maximum continuous output current is highly dependant of its thermal integration into the surrounding system. Different kinds of boundary conditions are considered to define appropriate cooling for reaching a targeted continuous current value. Three different scenarios have been investigated and are described below: 1. Application integration defined by interface temperature In this scenario, the servo drive is integrated into a structure that is cooled externally to a defined maximum temperature. The defined continuous currents are achievable as long as the drive is bolted to a metal structure using all 4 M3 screws, the entire red aluminum bottom is in contact with the structure and all of the contact surface cooled to no hotter than the temperature specified in the figure below. This way of specification is the most accurate one and can directly be used in the design process of the system. 2. Application integration defined by geometry * In this scenario, the servo drive is mounted to a geometrically defined structure. As “real-world structures” are typically too complex to reflect them here, 2 simple geometries (rectangular aluminum plates) were selected. The defined continuous currents are achievable as long as the drive is bolted to the center of a metal plate of such geometry using all 4 M3 screws, the plate is mounted vertically and the rest of the metal plate is surrounded by ambient air of 25° C or cooler. It will be subject to free convection cooling. Two sample geometries are specified. Higher results are possible when: designing even larger cooling areas using a material with better thermal conductivity adding active cooling (e.g. a fan) 3. Servo drive floating in ambient air This is a reference value when not integrating the servo drive into any structure. As SOMANET Nodes are designed as embedded products, this situation is not recommended for both thermal and mechanical reasons! * The continuous phase current given in the specsheet provided by Synapticon assumes this kind of boundary condition with a 200 x 150 x 20 mm aluminum mounting plate. 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 25/60

The safety version of Node has a different geometry which you can find here here 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 26/60

Please ensure to use as much of the available thread length as possible for tightening the Node to prevent damage to the thread. prevent damage to the thread. 1.3.2.4 Interference with magnetic fields Please consider the placement of the servo drive carefully when designing the motion control application. It has become evident that the motor’s magnetic field has an impact on the servo drive’s performance. Attention Attention Please also consider the magnetic fields that emenate from the brake. Please also consider the magnetic fields that emenate from the brake. These are the preferred arrangements: 1. At any position but shielded with a Faraday’s cage 2. Behind the motor 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 27/60

shielding material such as steel or Mu-Metal. That’s it! The next step is commissioning and tuning your drive: Commissioning and tuning with OBLAC Drives 1.3.2.5 Downloads DOWNLOAD 3D MODEL 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 28/60

Please regard this information when installing the Node. Installation specifications Node 400 Node 1000 Node 2000 E-File number E506869 Rating in Volt 12-48 V Rating in Ampere 13.2 A RMS 33 A RMS 66 A RMS Short circuit current rating 5k A Maximum Surrounding Air Temperature 40° C Torque Values for Terminal screws 0.5 - 0.6 Nm (4.4 lbf∙in) Short circuit rating and fuse type Listed Class T Fuse, rated min. 160Vdc 50A 20kA. (JDDZ/7.E81895) Temperature rating of field installed conductors >85° N/A 1.3.3.1 Field wiring terminal marking Attention Attention These products are intended for operation within circuits not connected directly to the supply These products are intended for operation within circuits not connected directly to the supply mains (galvanically isolated from the supply, i.e. on transformer secondary). mains (galvanically isolated from the supply, i.e. on transformer secondary). 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 29/60

Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any circuit protection must be provided in accordance with the National Electrical Code and any additional local codes. additional local codes. Attention Attention CSA: For Canada: CSA: For Canada: Integral solid state short circuit protection does not provide branch circuit protection. Branch Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the Canadian Electrical Code, part I. circuit protection must be provided in accordance with the Canadian Electrical Code, part I. Attention Attention Operation of this equipment requires detailed installation and operation instructions provided in Operation of this equipment requires detailed installation and operation instructions provided in the Installation/Operation manual intended for use with this product. This information is provided the Installation/Operation manual intended for use with this product. This information is provided online at www.doc.synapticon.com and can be downloaded as PDF. online at www.doc.synapticon.com and can be downloaded as PDF. A hard copy of this information may be ordered at +49 7031 / 30 478 -0 A hard copy of this information may be ordered at +49 7031 / 30 478 -0 L’utilisation de cet appareil nécessite des instructions détaillées d’installation et de L’utilisation de cet appareil nécessite des instructions détaillées d’installation et de fonctionnement fournies dans le manuel d’installation/utilisation prévu pour ce produit. Cette fonctionnement fournies dans le manuel d’installation/utilisation prévu pour ce produit. Cette information est disponible en ligne sur www.doc.synapticon.com et peut être téléchargée sous information est disponible en ligne sur www.doc.synapticon.com et peut être téléchargée sous forme PDF. forme PDF. La version papier peut être commandée au +49 7031 / 30 478 -0 La version papier peut être commandée au +49 7031 / 30 478 -0 Note Note Motor overtemperature sensing is not provided and must be provided in the field. Motor overtemperature sensing is not provided and must be provided in the field. 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 30/60

1.4.1 Overview SOMANET Node has several LEDs that show the servo drive’s state or indicate errors. 1.4.1.1 Legend Symbol Explanation Off Constantly luminous Single flashes (1 pulse per second) Slow blinking (3 pulses per second) Fast blinking (10 pulses per second) 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 31/60

LED is constantly luminous, the other is blinking slowly (3 pulses per second) Two colored behavior: One part of the LED is constantly luminous, the other is blinking fast (10 pulses per second) 1.4.2 Core LED The tri-color LED is used by the firmware to indicate internal status and errors. It provides an overview of the firmware state at a glance to quickly see whether a drive is operating nominally. 1.4.2.1 Firmware CiA 402 State Not Ready to Switch On Switch on Disabled Ready to Switch On Switched On Operation Enabled Quick Stop Fault and Fault Reaction EtherCAT State BOOT INIT PREOP SAFEOP OP 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 32/60

Bootloader State No Fault (firmware exists) Fault (no firmware exists) Idle Operation in progress Note Note If your servo drive is running Bootloader v1.0 you may find the LED fading in rainbow colors indicating If your servo drive is running Bootloader v1.0 you may find the LED fading in rainbow colors indicating that the bootloader is active. that the bootloader is active. 1.4.3 Drive LED The four LEDs on the Drive module show Hardware Errors. LED 1: Red LED 2: Red LED 3: Red LED 4: Green Explanation No error Watchdog ticks fault Dead-time fault Phase A Dead-time fault Phase B Dead-time fault Phase C 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 33/60

Over-current in Phase A / Phase B / DC- bus Over-voltage / Under-voltage / Over- temperature Details about these errors and remedies can be found here: Error Report Object 1.4.4 Com LED Signals on the Com LED are required for EtherCAT conformity. LED 1: OUT: ACT LED 2: OUT: LINK LED 3: IN: ACT LED 4: IN: LINK LINK is constantly showing a green light if there is a cable connected to either OUT or IN. ACT is blinking when there are transmissions on either OUT or IN. If none of the LEDs are active, check if the EtherCAT cables are connected properly. 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 34/60

instructions) The Safety Module provides two drive integrated safety functions according to IEC 61800-5-2:2016 as a pure hardware solution 1. STO (Safe Torque Off) prevents the creation of torque in the motor and enables an uncontrolled stop in accordance with stop category 0 of IEC 60204-1. 2. SBC (Safe Brake Control) provides a switchable (PWM) voltage output (0 V - U_bus) to directly safely control an external motor brake. Attention Attention The Safety module safely inhibts currents to the motor and to a brake when STO-SBC command The Safety module safely inhibts currents to the motor and to a brake when STO-SBC command has been given (e.g. from an emergency stop device). has been given (e.g. from an emergency stop device). When the command has been released (e.g. manually resetting the emergency stop device) the When the command has been released (e.g. manually resetting the emergency stop device) the currents are allowed to be carried to the motor and to the brake. currents are allowed to be carried to the motor and to the brake. The safety system must be designed to meet the requirement “restarting the machinery after a The safety system must be designed to meet the requirement “restarting the machinery after a stoppage must be possible only by voluntary actuation of a control device provided for the stoppage must be possible only by voluntary actuation of a control device provided for the purpose”. purpose”. Specifications of the safety functions Safety connectors Wiring the safety inputs Using the safety functions Examples for realising safety functions 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 35/60

Prevention of unexpected start-up Commissioning and maintenance Changelog of the safety-related documentation 1.5.1 Dimensions 1.5.2 CAD File DOWNLOAD 3D MODEL OF SOMANET NODE WITH SAFETY MODULE 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 36/60

EC-TYPE EXAMINATION SOMANET NODE SAFETY MODULE CERTIFICATE SOMANET NODE SAFETY MODULE 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 37/60

1.5.4.1 System requirements Required Firmware v4.2.0 or higher Supported Hardware SOMANET Node 2000 Safety (E revision or newer) * SOMANET Node 1000 Safety (E revision or newer) SOMANET Node 400 Safety (E revision or newer) * External fuse at main supply (48 VDC) is required for drive 2000 dimensioned according to driven load. 1.5.4.2 Technical specifications Safety parameters Safety Integration level (SIL) according to IEC 61508:2010 SIL 3 Performance Level (PL) according to ISO 13849- 1:2015 PL e cat. 3 Safe Failure Fraction (SFF) 99.99 % Probability of dangerous failure per hour (PFH ) 1.07*10 /hour Probability of dangerous failure on demand (PFD ) 9.41*10 Common Cause Failure (CCF) >65 Hardware Fault Tolerance (HFT) 1 Reaction time 10 ms De-activation time 10 ms Mean Time to dangerous Failure (MTTF ) 3035 years (capped to 100 years) Diagnostic coverage (DC ) 99% HW-type Type A Mission time T 20 a Installation requirements Max. installation altitude 2000 m Pollution Degree PD 2 Supported Motors 1 x 3-phase BLDC-Motor and 1 active brake d -10 avg -6 d avg M 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 38/60

Servo drives including the Safety module shall be used only in Pollution Degree environments class PD1 or PD2 according to IEC 61800-5-1: During normal operation only non-conductive pollution PD1 or PD2 according to IEC 61800-5-1: During normal operation only non-conductive pollution may occur, temporarily occurring conductivity caused by condensation may only be expected may occur, temporarily occurring conductivity caused by condensation may only be expected when the servo drive is out of operation. when the servo drive is out of operation. Safe digital inputs (STO-SBC input) Number of digital inputs 2 (dual-channel safety input for activating STO- SBC function) Digital input type according to IEC61131-2:2007 Type 1 Voltage range 0-60 VDC Max. transient input voltage 80 VDC Input voltage, logic 1 15-60 V Input voltage, logic 0 0-5 V Input current Max. 6 mA (@24 VDC) Test pulse toleration (OSSD pulses) Max. 1 ms Reverse voltage protected Yes Allowed discrepancy between digital inputs 100 ms See safety diagnostic section Safe brake output (SBC) Number of digital outputs 2 (dual-channel safety output for one brake system) Max. output voltage Servo drive main power supply (48 VDC) Min. output voltage 0 V Max. current. 1 A Max. peak current. 4 A Note Note This PWM controlled brake is configured by This PWM controlled brake is configured by the same object the same object as the regular brake. as the regular brake. 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 39/60

Simplified block diagram of servo drive with Safety Module: For details of the connectors please refer to: Safety connectors 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 40/60

parts 1.5.5.1 Connector Pinout 1.5.5.1.1 Safe digital I/O port Pin# Designation Function 1 BY- Bypass- * 2 GND Safety GND 3 IN2 STO/SBC input 2 4 IN1 STO/SBC input 1 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 41/60

6 BY+ Bypass+ * *STO-SBC functions are bypassed when Bypass+ is connected to Bypass-. Important Important Please note that Safety GND is an isolated signal from drive GND. Please note that Safety GND is an isolated signal from drive GND. 1.5.5.1.2 Safe brake terminal Pin # Designation Function 1 - Brake - 2 + Brake + Note Note The safe brake is PWM based and can be The safe brake is PWM based and can be configured with the regular brake object. configured with the regular brake object. 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 42/60

Connector description Manufacturer Mating part number Crimping Contact Cable Safe brake port JST ZER-02V-S SZE-002T-P0.3 0.08-0.21 mm² / 28-24 AWG Safe digital I/O port JST GHR-06V-S SSHL-002T- P0.2 0.05-0.13mm² / AWG 30- 26 Wiring diagrams for the digital inputs 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 43/60

Attention Attention For SIL 3, PL e, cat.3 it is required to send test pulses from the PLC to the output or to ensure fault For SIL 3, PL e, cat.3 it is required to send test pulses from the PLC to the output or to ensure fault exclusion for wiring “Short circuit between any two conductors” according to ISO 13849-2:2012 exclusion for wiring “Short circuit between any two conductors” according to ISO 13849-2:2012 between signals STO-SBC 1 and STO-SBC 2 between signals STO-SBC 1 and STO-SBC 2 permanently connected (fixed) and protected against external damage, e.g. by cable ducting, permanently connected (fixed) and protected against external damage, e.g. by cable ducting, armouring, OR armouring, OR separate multicore cables, OR separate multicore cables, OR within an electrical enclosure, OR within an electrical enclosure, OR individually shielded with earth connection. individually shielded with earth connection. 1.5.6.1 Disabling the safety functions When the safety functions are not used, it is necessary to bypass the safety module. To do so, please connect pins 1 and 6 of the safety module. 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 44/60

Please observe the maximum allowed cable lengths: Connection Maximum wire length STO-SBC 30 m 1.5.6.3 Connection diagrams for the STO inputs Important Important Please note that Safety GND is an isolated signal from drive GND. Please note that Safety GND is an isolated signal from drive GND. ​1.5.6.3.1 Manual switch + drives Allows safety functions up to SIL 3, PL e, cat.3. 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 45/60

Allows safety functions up to SIL 3, PL e, cat.3. Note Note Safety GND functions as a secondary line when a PLC with Plus-Minus output is used. Safety GND functions as a secondary line when a PLC with Plus-Minus output is used. Attention Attention In case of multiple drive connection, ensure that the output driver has sufficient current driving In case of multiple drive connection, ensure that the output driver has sufficient current driving capability. capability. 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 46/60

Allows safety functions up to SIL 3, PL e, cat.3. For example: Safety PLC output or safety sensors (e.g. Safety light curtain, safety scanner etc.) Attention Attention In case of multiple drive connection, ensure that the output driver has sufficient current driving In case of multiple drive connection, ensure that the output driver has sufficient current driving capability. capability. 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 47/60

Attention Attention When using a safe brake: When using a safe brake: use the SBC out instead of phase D of the Drive module. use the SBC out instead of phase D of the Drive module. ensure to connect it to Brake- of the SBC out instead of a general GND ensure to connect it to Brake- of the SBC out instead of a general GND Now you are ready to use the feature: Safety functions 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 48/60

1.5.7.1 Timing diagrams 1.5.7.1.1 Timing diagram for STO-function without SBC 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 49/60

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 50/60

Digital input STO-SBC 1 Digital input STO-SBC 2 Internal fault Safety Statusword Error entry 0 0 no 1 0 1 no 1 “SfeDilvd” 1 0 no 1 “SfeDilvd” 1 1 no 0 0 0 yes 1 “SfeFault” ​1.5.7.3 Diagnostic functions 1.5.7.3.1 Fault diagnostics The safety module has two integrated diagnostic functions: Comparing safety digital input statuses. The fault is activated after 100ms discrepancy of the STO-SBC inputs. In case a fault is detected, the servo drive will enter Fault state and indicate a fault “SfeDilvd” in the Error Report object. During the activation of the STO-SBC function the servo drive verifies that the two channels of the module are internally operating correctly. In case an internal fault is detected, the servo drive will enter Fault state and indicate a fault “SfeFault” in the Error Report object. 1.5.7.3.2 Fault reaction In case a fault has been detected, the drive will stay in fault state until manual reset has been given and the brake is closed. 1.5.7.3.3 Resetting diagnostic faults To reset a fault condition, please: request STO/SBC (for example by activating the emergency stop device) and reset the fault Attention Attention When the fault resetting was not successful, power cycle the servo drive and investigate the reason When the fault resetting was not successful, power cycle the servo drive and investigate the reason for the failure. for the failure. 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 51/60

The Safety Statusword indicates the current state of safety functions and Safety Digital Input Diagnostics shows the state of the Safety Module inputs. Index Name Descriptions 0x6621 Safety Statusword Subindex: 1 - Bit 1: STO status is the first bit of byte 2 - Bit 2: SBC status is the first bit of byte STO/SBC status: 0: is not active 1: is active 0x2611 Safety Digital Input Subindex: 1 - Input 1: 2 - Input 2: Input 1/2: 0: Input is low 1: Input is high Important Important Using the SBC function while running the motor may damage the brake due to mechanical stress. Using the SBC function while running the motor may damage the brake due to mechanical stress. During normal operation it is recommended to activate STO-SBC after the motor has come to a halt During normal operation it is recommended to activate STO-SBC after the motor has come to a halt e.g. by introducing a delay with an external safety logic device such as a safety timer. This way an e.g. by introducing a delay with an external safety logic device such as a safety timer. This way an equivalent of SS1 with time monitoring is implemented. equivalent of SS1 with time monitoring is implemented. Attention Attention The STO-function does not provide electrical isolation from the mains supply. If electrical changes The STO-function does not provide electrical isolation from the mains supply. If electrical changes need to be carried out on the system (e.g. modifying the motor cabling), the servo drive shall be need to be carried out on the system (e.g. modifying the motor cabling), the servo drive shall be completely isolated from mains supply with a mechanical switch. completely isolated from mains supply with a mechanical switch. 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 52/60

​1.5.8.1 Commissioning Before the system is put into operation the safety functions must be tested/validated. The STO-SBC function shall be activated/deactivated and the reactions shall be monitored (the reaction depends if used as emergency stop or prevention of unexpected start-up or another safety function). 1. Safety wiring diagrams and the commissioning test shall be documented and stored (who,what,when) 2. Define maintenance routines according to the need (see chapter maintenance) ​1.5.8.2 Maintenance IEC 61800-5-2:2016 requires to have a maintenance test for STO-SBC function. The frequency of testing depends on the required safety level: one test per year for SIL 2 , PL d / category 3 one test per three months for SIL 3 , PL e / category 3 The maintenance test can be done by activating STO/SBC function through STO-SBC inputs and observe the reaction of the system. 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 53/60

The following examples can be used as a guidance for implementing some of the most common safety functions. A risk and hazard analysis is required for each application to find necessary safety functionalities and the requirements for the safety functions. Emergency stop Stop category 1 emergency stop (Safe stop 1) Prevention of unexpected start-up 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 54/60

The STO and SBC functions can be used for implementing the category 0 emergency stop function according to IEC 60204-1:2016. The Emergency stop function can be realized With an emergency stop switch connected directly to control the STO-SBC input signals With an emergency stop relay + emergency stop switch. With safety PLC + emergency stop switch. Please read the section about the working principle of the Safety Module. All cases above requires correct behaviour from the controlling PLC. After releasing the emergency stop device, a separate and deliberate action must be used to restart the system (restarting can be done with a non-safety PLC). Attention Attention IEC 60204-1:2016 requires “reset shall not initiate a restart” regarding emergency stop. IEC 60204-1:2016 requires “reset shall not initiate a restart” regarding emergency stop. 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 55/60

stop 1) This example depicts the prerequisites and wiring for an emergency stop that fulfills the requirements according to IEC 60204-1:2016 stop category 1 (a controlled stop with power available to the machine actuators to achieve the stop and then removal of power when the stop is achieved) ISO 13849-1:2015 PLe, Cat. 3 IEC 61508:2010 SIL3 IEC 61800-5-2:2016 SS1 (Safe stop 1) When the Emergency Stop Device (such as a push button or a light curtain) signals the execution of an emergency stop, two redundant sets of contactors are triggered: K1/K2 gives immediately the signal to the Master PLC/IPC Digital Input. When the Digital Input is logical 0, the Master PLC/IPC shall request “quick stop” via EtherCAT Controlword 0x6040. K3/K4 are triggered after a configurable time delay. During the time delay, the machine can be gracefully controlled to a stop before the activation of the SOMANET Node STO-SBC function. 1.5.9.2.1 Prerequisites SOMANET Node Safety Safety Relay Emergency stop device Power supply (PELV/SELV) Reset/Start switch Note Note It is necessary to use a It is necessary to use a momentary switch momentary switch for Reset/Start function to fulfill the requirement for Reset/Start function to fulfill the requirement regarding emergency stop “The reset of the emergency stop command regarding emergency stop “The reset of the emergency stop command shall not restart shall not restart the the machinery.” machinery.” 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 56/60

For a PLe, SIL 3 system please regard the requirements for fault exclusion between the STO-SBC 1 and fault exclusion between the STO-SBC 1 and STO-SBC 2 signals. STO-SBC 2 signals. 1.5.9.2.3 Configuration Master PLC/IPC Program the digital input to request quick stop via EtherCAT Controlword 0x6040 Delay time (in Safety relay) Configure the time according to your application. The delay time should be longer than the maximum deceleration time of the application. . Ramp time (in SOMANET) Configure the Quick stop deceleration (0x6085) according to your application. 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 57/60

values given by the device’s safety manual. Verify that the PFD/PFHd is sufficiently low for the desired safety level. You can find the values for SOMANET Node Safety here. Commissioning Tested and validate the safety functions before taking the system is put into operation. safety function 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 58/60

STO and SBC function can be used when power removal is required to prevent an unexpected start-up according to ISO 14118. A lockable safety switch for activating the STO-SBC function is required. The function “Prevention of unexpected start-up” can be used for system maintenance activities (e.g. Repairing/cleaning activities inside hazardous areas) 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 59/60

documentation Version Reason Details Date released 2.4.3 Initial release Safety Module A.3 Original Safety Module Documentation 2019-11- 26 2.4.5.2 Update Add safety values according to EN ISO 13849 and IEC 61508 Add changelog 2019-12- 10 2.4.5.4 Update Update safety specs and wiring diagrams Add supported motors 2019-12- 17 2.4.5.5 Update Update safety specs 2019-12- 19 2.4.5.6 Update Add Common Cause Failure 2020-01- 09 3.0.0 Update Add Example section Add example “Wiring for a Safe Stop 1” 2020-04- 06 3.0.1 Update Remove Feedback Output from table 2020-04- 15 3.1.1 Update Correct truth table 2020-05- 15 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 60/60