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
Number of phases 3
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