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

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

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

Weight (without encoder disks)

92 g

133 g

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 (0-5V)

  • 1x Analog In Differential (±2.5V)

Motor temperature sensor input (user configurable)

1 x KTY (for example KTY84-130) / PT1000 / PT100 1

Heatsink

Aluminum

Integrated brake

Yes (optional)

1

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

Optional Integrated Encoders

SOMANET Circulo is available in different versions:

  • With one additional encoder disk in two positions which is mounted on the motor for position control, velocity control and commutation.

  • With two additional encoder disks, one mounted on the motor for velocity control (dual loop control) and commutation and one mounted on the joint for position control.

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Attention

Be aware of the following limitations when using an integrated encoder:

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

If the integrated encoder Position 2 is used with ABI or Hall, the external encoder 2 can only be used with ABI or Hall.

If the integrated encoder Position 2 is used with another protocol, the external encoder 2 can not be used.

Details can be found in the wiring section.
Circulo 7Circulo 9Circulo 7

Encoder Specifications

Encoder Position 1

Encoder Position 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

Absolute position

On both encoders

Multiturn resolution

18 bit (battery based)

Maximum speed

12000 RPM

Circulo 9

Encoder Specifications

Encoder Position 1

Encoder Position 2

Operating principle

Off-axis magnetic field scanning

Scanning principle

2 arrays of Hall sensors for 2 magnetic tracks

Interface

BiSS

Encoder resolution

20 bit

Absolute position

On both encoders

Multiturn resolution

18 bit (battery based)

Maximum speed

6000 RPM

Accuracy and repeatability of the integrated encoders

Circulo 7Circulo 9Circulo 7

Accuracy / repeatability

Encoder Position 1

Encoder Position 2

Accuracy

±90”

±0.025°

±72”

±0.02°

Repeatability

±14”

±0.0039°

±25”

±0.0069°

Note

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

Circulo 9

Accuracy / repeatability

Encoder Position 1

Encoder Position 2

Accuracy

±72”

±0.02°

±72”

±0.02°

Repeatability

±8”

±0.0022°

±13”

±0.0036°

Note

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

Functions

Encoder Position 1

Mounted on

Configuration 1: joint

Configuration 2: motor

Functions

Configuration 1: position

Configuration 2: position/velocity/commutation

Encoder Position 2

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

Ordering information

SOMANET Circulo is available in different variants.

For making a purchase or request please include the MPN according to the following table:

Product Designation

Option

MPN

Product Catalog Name*

SOMANET Circulo 7

Standard

CR7-48-24-ECNN

SOMANET Circulo 7 (CR7-48-24-ECNN)

Single Encoder Position 1

CR7-48-24-ECAN

SOMANET Circulo 7 (CR7-48-24-ECAN)

Single Encoder Position 2

CR7-48-24-ECBN

SOMANET Circulo 7 (CR7-48-24-ECBN)

Dual Encoder

CR7-48-24-ECDN

SOMANET Circulo 7 (CR7-48-24-ECDN)

SOMANET Circulo 9

Standard

CR9-48-60-ECNN

SOMANET Circulo 9 (CR9-48-60-ECNN)

Single Encoder Position 1

CR9-48-60-ECAN

SOMANET Circulo 9 (CR9-48-60-ECAN)

Single Encoder Position 2

CR9-48-60-ECBN

SOMANET Circulo 9 (CR9-48-60-ECBN)

Dual Encoder

CR9-48-60-ECNN

SOMANET Circulo 9 (CR9-48-60-ECNN)

* this name will appear in your order confirmation and invoice.