- Hardware Manuals
- Commissioning and Tuning Guide
- Software Reference
| Power Specification SOMANET Servo Node Circulo | Circulo 700 | Circulo 1800 |
|---|---|---|
| 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 SOMANET Servo Node Circulo | Circulo 700 | Circulo 1800 | |
|---|---|---|---|
| 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) | ||
SOMANET Servo Node Circulo is available in different versions:
SOMANET Servo Node Circulo Sense: one additional encoder disk which is mounted on the motor for position control, velocity control or commutation.
SOMANET Servo Node 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.
| Encoder Specifications | Circulo 700 | Circulo 1800 | |
|---|---|---|---|
| Operating principle | Off-axis magnetic field scanning | ||
| Magnetic target | Magnetic ring with 32 pole pairs | Magnetic ring with 64 pole pairs | |
| Scanning principle | 2 arrays of Hall sensors for 2 magnetic tracks (Master/Nonius) | ||
| 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 | |
Circulo 700
|
Circulo 700
|
Circulo 1800
|
Circulo 1800
|
|
|---|---|---|---|---|
| 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.
| 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: - |
|
| 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 |
| Brake specifications | ||
|---|---|---|
| Type | Solenoid latch | |
| Detailed specifications | TBD | |