Driver (Somanet Circulo) DRIVE
The servo drives employed in conjunction with TUAKA Drive versions 103 and 107 incorporate SOMANET CIRCULO 7 and 9 models shown in the pictures below.
The phases cables, brake and temperature sensor come preconnected.
Only the power and the communication -STO/SBC cable should be connected.
TUAKA is using the internal encoder from Synapticon and therefore external encoder connector 1 can only be used for multi-turn battery connection.
External encoder connecter 2 cannot be used.
Technical Specification
Link for technical specifications:
Connectors Overview
Connectors and pinout
Mating parts
Connector details and mating part number:
Maximum cable lengths
| Type of cable | Maximum cable length | |||
|---|---|---|---|---|
| Main supply cable | 30 m | |||
| EtherCAT cable | 30 m | |||
| Digital I/O cable | 3 m | |||
| Analog inputs cable | 3 m |
Source:
Faults Handing
The drive can show different errors through the standard CiA402 object 0x603F and also through the manufacturer specific object 0x203F.
We recommend using the manufacturer specific errors list as it is more detailed.
Standard errors list:
Error codes thrown by the firmware
Manufacturer specific errors list:
Suggested remedies for hardware triggered errors:
Remedies for protection errors
User instructions and tips
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Connect STO/SBC to 24V:
Connect the STO / SBC to 24V otherwise the drive will stay in Safe mode and will not go to operation enabled.
Check the stafety statusword 0x6621 to diagnose the STO/SBC inputs.
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Configure the Interpolator:
The internal interpolator of the drive is configured to work with 1kHz cycle time controllers. If a slower cycle time will be used the interpolator configuration must be changed to avoid hardware damage.
Command smoothing and Interpolation
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Regenerative Energy
The actuator can act like a generator when gravity effects or deceleration drives the motor in generator mode and power is injected into the powerline.
This regenerated energy will cause a DC voltage increase and can damage the drive and other equipment sharing the same DC bus.
The drive has hardware protection mechanism and fault reaction when the DC voltage goes above 59V.
This protection might not be sufficient to prevent hardware damage, if the voltage increase is faster than the drive’s reaction time.
To prevent any over-voltage errors and make sure the system works correctly, make sure that the regenerative energy can be absorbed either by a battery (in battery powered applications) or burned resistors (braking chopper or shunt resistors)
more information here :
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System identification and re-tuning:
The units will be delivered with an initial tuning for the velocity and position PID controllers.
Nevertheless, such default tuning might not be suitable for your application and a retuning will be necessary.
Please refer to the “Taking the drive into operation” section for more details.
Taking the drive into operation
We use OBLAC Drives, the tuning and commissioning software from the drive manufacturer to configure any necessary features and do the system identification and tuning of the drive.
Connecting the drive to OBLAC Drives
There are 2 ways of connecting:
Either using OBLAC BOX or a Virtual Machine to run tuning application.
System Identification
follow these steps for tuning:
1- Connect to OBLAC DRIVES
2- Go to the configuration page of OBLAC -> Tuning -> System Identification
3- Run System Identification by providing a required Torque and final frequency values:
The actuator will be controlled with a Torque sine sweep signal.
Make sure that the gravity force will not affect the movement of the load by putting it initially facing downward or upwards.
PID controller tuning
After the identification of the System’s friction and inertia, use the full auto tuning button.
This will initialize the sliders position and will provide stable PID controller tuning.
For in depth tuning, please use the available profilers and manually move the sliders to tune the system and improve the overall behavior.
The slider will automatically set the PID controller gains to achieve the desired setpoints.
There is no need to stop the actuator while tuning. This operation can be executed while the actuator is rotating.