Technical specifications

Power Specification

Power Specification SOMANET Circulo

Circulo 7

Circulo 9

Rated supply voltage DC

24-48 V

Maximum voltage DC

65 V

Continuous phase current RMS

8 A

24 A

Maximum phase current RMS (Load-cycle: 0.5s every 1.5 s)

24 A

60 A

Maximum efficiency

99 %

Standby power consumption

TBD

General Specification

General Specification SOMANET Circulo

Circulo 7

Circulo 9

Supported Communication Standard

EtherCAT

Supported motors

BLDC, PMSM

Integrated safety functions

STO/SBC according to SIL3 Pl-e

Integrated Encoder 1

yes (optional), 20bit, absolute, multi-turn with battery

Integrated Encoder 2

yes (optional), 20bit, absolute

Supported motors

BLDC, PMSM

Hardware protections

Overcurrent, overvoltage,undervoltage, overtemperature, PWM deadtime, PWM shoot through

Dimensions (see also dimension drawings)

Inner diameter: 20 mm, Outer diameter: 72.2 mm, height: 26.3 mm

Inner diameter: 40 mm, Outer diameter: 92.2 mm, height: 28.5 mm

Operating temperature

TBD

Storage temperature

-35 to 85 °C

Humidity

Max 90 % rH

Sensors on-board

3 x Iphase, UDC, tMOSFET, tcore

Encoder interface (ext.)

1 x ABZ / SSI / BiSS-C /Nikon / Tamagawa

Brake pwr. output

1A @ 48V

GPIO

5x Digital IO (3.3/5V), 1x Digital Output (3.3/5V), 1x Digital Input (24V)

1x Analog In Single Ended (0-10V),1x Analog In Differential (±5V)

Heatsink

Aluminum

Integrated encoder (motor)

Yes, absolute (optional)

Integrated encoder (joint)

Yes, absolute (optional)

Integrated brake

Yes (optional)

Optional Integrated Encoders

SOMANET Circulo is available in different versions:

SOMANET Circulo Sense: one additional encoder disk which is mounted on the motor for position control, velocity control or commutation.

SOMANET Circulo Dual Sense: two additional encoder disks, one mounted on the motor for position control and one mounted on the joint for velocity control (dual loop control) or commutation.

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Encoder Specifications

Circulo 7

Circulo 9

Operating principle

Off-axis magnetic field scanning

Scanning principle

2 arrays of Hall sensors for 2 magnetic tracks

Interface

BiSS

Encoder resolution

19 bit

20 bit

Absolute position

On both encoders

Multiturn resolution

18 bit (battery based)

Maximum speed

12000 RPM

6000 RPM

Accuracy and repeatability of the encoder disks

Circulo 7

Inner ring

Circulo 7

Outer ring

Circulo 9

Inner ring

Circulo 9

Outer ring

Accuracy

90”

0.025°

72”

0.02°

72”

0.02°

72”

0.02°

Repeatability

36”

0.01°

54”

0.015°

36”

0.01°

36”

0.01°

Note

These preliminary values are the achievable accuracy and repeatability after encoder calibration.

Functions

Encoder 1 (inner)

Mounted on

Configuration 1: joint

Configuration 2: motor

Functions

Configuration 1: position

Configuration 2: position/velocity/commutation

Encoder 2 (outer)

Mounted on

Configuration 1: motor

Configuration 2: -

Functions

Configuration 1: velocity/commutation

Configuration 2: -

Magnetic data

Parameter

Magnetic field strength at the surface of the chip

15 - 100 kA/m

Operating magnetic field frequency

max 7 kHz

External magnetic field

max 20 mT

Optional Integrated Brake

Brake specifications

Type

Solenoid latch

Detailed specifications

TBD