Technical specifications¶

Power Specification¶

Power Specification SOMANET Circulo		Circulo 7	Circulo 9
Nominal supply voltage DC		24-55 V
Maximum standby voltage DC *		60 V
Minimum supply voltage DC		14 V
Maximum continuous phase current RMS	I _cont,max	8 A	20 A
Maximum peak phase current RMS **	I _peak,max	24 A	60 A
Maximum efficiency		99 %
Standby power consumption		TBD

* During standby, the drive shall not be enabled to drive a motor. Standby mode is useful for configuration or battery charging.

** The maximum peak current can be applied when the following criteria are fulfilled:

1. Duration of one peak doesn’t exceed 10 seconds

2. Mounting temperature and ambient temperature within operating range

3. Over any period of 90 seconds, the RMS value I _RMS,90s of the current does not exceed the allowable continuous current I _cont,max. In the example of the current consisting of pulses with I = I _peak,max and idle phases of I = 0 between them, the maximum allowable duty cycle would be 11.1% (e.g. 10 seconds of I = I _peak,max, followed by 80 seconds of I = 0). In a more general way, this requirement can be written as

$I_{RMS,90s} = \sqrt{\frac{1}{90} \cdot \int\limits_{t_1}^{t_1+90s} i^2 (t)\,dt} \ \leq \ I_{cont,max} \ \forall \ t_1$

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 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)	92 g	133 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 temperature	-35 to 85°C
Humidity	Max 90 % rH
Sensors on-board	3 x I_phase (two phases measured, one computed) U_DC t_mosfet t_core
Encoder port 1	1 x BiSS-C / SSI
Encoder port 2	1 x ABI / Fast ABI 2 / ABI / BiSS-C / SSI / Half-Duplex / A-Format / HALL
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 3
Heatsink	Aluminum
Integrated brake	Yes (optional)

1: The Hardware is protected against over-temperature 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 Encoders¶

SOMANET Circulo is available in different versions:

With one additional encoder ring in two positions which is mounted on the motor for position control, velocity control and commutation.
With two additional encoder rings, one mounted on the motor for velocity control (dual loop control) and commutation and one mounted on the joint for position control.

../../../_images/b.1_circulo_7_dual_enc1.png

Attention

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

When the integrated encoder 1 is used, no external encoder can be used on port 1.

If integrated encoder 2 is used, only Hall can be configured as external encoder 2 on port 2.

Details can be found in the wiring section.

Circulo 7Circulo 9Circulo 7

Encoder Specifications	Position 1 (inner)	Position 2 (outer)
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	Position 1 (inner)	Position 2 (outer)
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	Position 1 (inner)	Position 2 (outer)
Accuracy	±90” * ±0.025°	±72” * ±0.02°
Repeatability	±14” ±0.0039°	±25” ±0.0069°

Accuracy / repeatability

Position 1 (inner)

Position 2 (outer)

Accuracy

±90” *

±0.025°

±72” *

±0.02°

Repeatability

±14”

±0.0039°

±25”

±0.0069°

Circulo 9

Accuracy / repeatability	Position 1 (inner)	Position 2 (outer)
Accuracy	±72” * ±0.02°	±72” * ±0.02°
Repeatability	±8” ±0.0022°	±13” ±0.0036°

Accuracy / repeatability

Position 1 (inner)

Position 2 (outer)

Accuracy

±72” *

±0.02°

±72” *

±0.02°

Repeatability

±8”

±0.0022°

±13”

±0.0036°

* The specified accuracy corresponds to the encoder-related errors only. Installation-related errors such as runout and eccentricity are not considered. For more details see Encoder accuracy.

Functions¶

Encoder Position 1 (inner)
Mounted on	Configuration 1: joint Configuration 2: motor
Functions	Configuration 1: position Configuration 2: position/velocity/commutation

Encoder Position 1 (inner)

Mounted on

Configuration 1: joint

Configuration 2: motor

Functions

Configuration 1: position

Configuration 2: position/velocity/commutation

Encoder Position 2 (outer)
Mounted on	Configuration 1: motor Configuration 2: -
Functions	Configuration 1: velocity/commutation Configuration 2: -

Encoder Position 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

Ordering information¶

Please place your purchase requests to sales@synapticon.com.

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 (inner)	CR7-48-24-ECAN	SOMANET Circulo 7 (CR7-48-24-ECAN)
	Single Encoder Position 2 (outer)	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 (inner)	CR9-48-60-ECAN	SOMANET Circulo 9 (CR9-48-60-ECAN)
	Single Encoder Position 2 (outer)	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.