Technical specifications

The SOMANET Circulo series is a combination of servo drive, position feedback sensor (encoder), mechanical integration solution, providing an integrated brake option , specifically designed for collaborative robot (cobot) joints and smart actuators.

Power Specification

 

Circulo 7

Circulo 9

Maximum peak output power

750 W

1850 W

Maximum continuous output power

250 W

630 W

Nominal supply voltage *

24-48 V DC

Maximum supply voltage *

58 V DC cont.; 60 V DC peak

Minimum supply voltage *

14 V DC

Maximum input current DC

18 A

45 A

Maximum continuous phase current **

8 Arms

20 Arms

Maximum peak phase current ***

24 Arms

60 Arms
Maximum peak phase current (sine amplitude) **** 33.6 A 84 A

Maximum efficiency

> 98 %

* Please consider these definitions for supply voltage

** Maximum continuous values can be reached when the thermal mounting guidelines have been considered.

*** Please refer to the load cycle

**** An explanation for the different values used can be found in our System Integration Guide.

General Specification

  Circulo 7 Circulo 9
Supported Communication Standard

EtherCAT with Safety over EtherCAT
(EtherCAT and Safety over EtherCAT are registered trademarks and patented technologies licensed by Beckhoff Automation GmbH, Germany)

SOMANET Circulo is EtherCAT Conformance Tested.
Number of Phases 3S
Supported motors BLDC, PMSM
Integrated safety functions

  • Safe Torque Off (STO)

  • Safe Brake Control (SBC, part of STO function)

  • Safe Stop 1 (SS1) with time monitoring

  • Safe Stop 1 (SS1) with ramp monitoring

    Safe Stop 2 (SS2) with ramp monitoring

  • Safe operating stop (SOS)

  • Safely Limited Speed (SLS)

  • Safe maximum speed (SMS)

  • SLT (applicable with SMM LW2)

  • Safe position

    Safe velocity

    Safe torque by motor current (applicable with SMM LW2)
Integrated Encoder 1 (multiturn with battery) (optional) 19 bit, absolute (optional) 20 bit, absolute
Integrated Encoder 2 (optional) 19 bit, absolute (optional) 20 bit, absolute
Incremental Encoder max frequency (external encoder)

1.4 MHz (supports up to 14,000 rpm with a 4,096 resolution incremental encoder)

Note: 3.2 MHz is reachable when using Fast ABI.
Hardware protections Overcurrent, Overvoltage, Undervoltage, Overtemperature[1], PWM deadtime, PWM shoot through
Dimensions (see also dimension drawings)

Inner diameter: 20 mm

Outer diameter: 72.2 mm

Height: 21.3 mm

Inner diameter: 40 mm

Outer diameter: 92.2 mm

Height: 22.3 mm
Weight (without encoder rings) 102 g 147 g
Operating temperature

0 - 60°C ambient air (inside the enclosure)

0 - 70°C on the mounting surface (typically B-side / bearing flange of the motor)
Max. installation altitude 2000 m
Storage/Transport temperature -35 to 85° C
Minimum transport air pressure 70 kPa*  
Humidity Max 90 % rH
Sensors on-board 3 x Iphase , UDC, tmosfet, tcore
Encoder port 1 1 x BiSS-C / SSI
Encoder port 2 1 x ABI / Fast ABI [2] / BiSS-C / SSI
Brake power output 1 A @ 48 V
Brake peak current 4 A
(Safe) Digital I/O

1x Safe Digital Output (24 V)

2x Safe Digital Input (24 V)

3x Digital IO (3.3/5 V)

1x Digital Output (3.3/5 V)

1x Digital Input (24 V)
Analog In

1x Analog In Single Ended (0-5 V)

1x Analog In Differential (±5 V)
Safe Analog In 1x Safe Analog In Differential (±5 V)
Motor temperature sensor input (user configurable) 1 x KTY (for example KTY84-130) / PT1000 / PT100 [3]
Heatsink Aluminum
Integrated brake Yes (optional)
Compliance with standards

EN 61800-5-2:2017

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 61800-5-1:2022

IEC 60204-1:2016

IEC 61158-6-12: 2019

IEC 61800-7:2015
Compliance with European directives CE (EMC Directive 2014/30/EU, Machinery Directive 2006/42/EC)

* The electronic assemblies manufactured by Synapticon are suitable for transportation at ambient pressures of up to 700 hPa (corresponding to approximately 3000 m / 9842.52 ft above sea level), provided that no additional external stresses such as severe temperature changes or mechanical shocks occur. Transportation should be carried out in suitable packaging. Pressure sensitive components or hermetically sealed housings must be tested or specified separately.

After transportation under conditions with strongly fluctuating temperatures or humidity, an acclimatization period of at least 24 hours at room temperature must be provided before commissioning. This ensures that any condensation that may have formed evaporates completely. Premature switch-on can lead to damage to the module.

[1] The Hardware is protected against overtemperature above 114 °C. Since the software has its own temperature protection object which is set to 100 °C by default, this hardware protection will not be triggered.

[2] Fast ABI is supported from firmware 5.0 on

[3] Using a PT100 is not recommended. Click here for details about temperature sensors

Optional Integrated Brake

Brake specifications

Type

Solenoid actuator

Detailed specifications