1. Documentation
  2. SOMANET Servo Nodes
  3. SOMANET Servo Node Circulo A.2 (Preliminary)
  4. Technical specifications

Technical specifications

Power Specification

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

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)

Optional Integrated Encoders

General 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 14 bit (battery based) N/A
Maximum speed 12000 RPM 6000 RPM
Encoder accuracy 0.035 deg/ 126 arcsec after calibration 0.025 deg/ 90 arcsec after 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