Technical specifications

Power Specification

Power Specification SOMANET Circulo Circulo 7 Circulo 9
Rated supply voltage DC 24-48 V
Maximum voltage DC 60 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: 21.3 mm
  • Inner diameter: 40 mm
  • Outer diameter: 92.2 mm
  • Height: 22.3 mm
Operating temperature TBD
Storage temperature -35 to 85 °C
Humidity Max 90 % rH
Sensors on-board
  • 3 x Iphase (two phases measured, one computed)
  • UDC
  • tmosfet
  • tcore
Encoder port 1 1 x BiSS-C / SSI
Encoder port 2 1 x ABZ / SSI / BiSS-C / Nikon / Tamagawa
Brake power output 1A @ 48V
Brake peak current 4A
Digital I/O
  • 5x Digital IO (3.3/5V)
  • 1x Digital Output (3.3/5V)
  • 1x Digital Input (24V)
Analog In
  • 1x Analog In Single Ended (0-10V)
  • 1x Analog In Differential (±5V)
Motor temperature sensor input 1 x KTY or PT1000 (user configurable)
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:

  • With one additional encoder disk which is mounted on the motor for position control, velocity control or commutation.
  • With 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.

Attention

Please note that if an integrated encoder is used, the respective Encoder port can not be used:

If the integrated encoder 1 is used, the external encoder 1 can not be used.
If the integrated encoder 2 is used, the external encoder 2 can not be used.

Details can be found in the wiring section.
../../../../_images/B.1_Circulo_encoder_disks.png
Encoder Specifications Circulo 7 Encoder 1 Circulo 7 Encoder 2 Circulo 9 Encoder 1 Circulo 9 Encoder 2
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)   18 bit (battery based)  
Maximum speed 12000 RPM 6000 RPM

Accuracy and repeatability of the integrated encoders

Accuracy / repeatability Circulo 7 Encoder 1 Circulo 7 Encoder 2 Circulo 9 Encoder 1 Circulo 9 Encoder 2
Accuracy

±90”

±0.025°

±72”

±0.02°

±72”

±0.02°

±72”

±0.02°

Repeatability

±14”

±0.0039°

±25”

±0.0069°

±8”

±0.0022°

±13”

±0.0036°

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