SOMANET Circulo Encoders and IO

Connector overview

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Analog Input

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Pin # Signal
1 Differential +5 V
2 Differential -5 V
3 Ground
4 Single-ended 0-10 V
5 +5 V*
6 +10 V**
* This is a 5 V supply that can provide up to 100 mA for external use.
The supply is protected against short to ground and keeps the current below 400mA in a continuous short.

** This is a 10 V supply that can provide up to 25 mA for external use.
The supply is protected against short to ground and keeps the current below 100mA in a continuous short.

Error Before Calibration: 1.5%

External Encoder

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Possible Combinations

Supported

Encoders

Config. 1 * Config. 2 Config. 3 Config. 4 Config. 5
Internal Encoder 1 BiSS BiSS
Internal Encoder 2 BiSS Disabled
External Encoder

ABI (Differential or

Single-Ended) or HALL

BiSS (Differential) SSI (Differential) Half Duplex (Differential) HALL

* Only 2 out of the 3 Encoders can be used at the same time.

Encoder 3 (external) Config. 1 Config. 2 Config. 3 Config. 4 Config. 5
Pin #

ABI

(Differential)

BiSS (Differential) SSI (Differential) Half-Duplex (Differential) HALL
1
MA- Clock- SD- / A
2 5 V 5 V 5 V 5 V 5 V
3 Ground Ground Ground Ground Ground
4
MA+ Clock+ SD+ / B
5 A- SLO- Data-
H3 / C
6 A+ SLO+ Data+
7 B-
H2 / B
8 B+
9 I-
H1 / A
10 I+

Digital IO

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Pin # Signal Logic level
1 3.3 V *  
2 Digital IO 1 Configurable as 3.3 V or 5 V
3 Digital IO 2 Configurable as 3.3 V or 5 V
4 Ground  
5 Digital IO 3 Configurable as 3.3 V or 5 V
6 Digital output 4 Configurable as 3.3 V or 5 V
7 5 V **  
8 Digital IO 5 Configurable as 3.3 V or 5 V
9 Digital IO 6 Configurable as 3.3 V or 5 V
10 Digital input 7 24 V
* This is a +3.3 V supply that can provide up to 250 mA for external use.
The supply is protected against short to ground and keeps the current below 400mA in a continuous short.

** This is a +5 V supply that can provide up to 250 mA for external use.
The supply is protected against short to ground and keeps the current below 400mA in a continuous short.

Note

Each Digital IO needs to be configured as a Digital Input or Output via object 0x2210 (“GPIO”).
The object can also be used to activate a pull-down resistor.

Changes may require to powercycle the node.

Safety STO-SBC

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Pin # Signal
1 STO/SBC1 input 1
2 STO/SBC2 input 2
3 Safety Ground
4 PE
5 STO/SBC Feedback +
6 STO/SBC Feedback -

Wiring diagrams for the digital inputs

Attention

When not using the STO-SBC feature, the function must be bypassed by bridging the jumpers:

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Encoder Battery (for multi-turn)

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Pin # Signal
1 +V_BAT
2 Ground

For selecting a suitable battery, please check these notes.

EtherCAT In/Out

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Pin # Signal
1 RX+
2 RX-
3 Ground
4 TX+
5 TX-