Technical specifications

Power Specification

Power Specification SOMANET Circulo	Circulo 7	Circulo 9
Maximum Peak Output Power	750 W	1850 W
Maximum Continuous Output Power	250 W	630 W
Nominal supply voltage *	24-48 V DC
Maximum supply voltage *	55 V DC cont.; 60 V DC peak
Minimum supply voltage *	14 V DC
Maximum Input Current DC	18 A RMS	45 A RMS
Maximum continuous phase current **	8 A RMS	20 A RMS
Maximum peak phase current ***	24 A RMS	60 A RMS
Maximum efficiency	> 98 %

* Please consider these defintions for supply voltage

** Maximum continuous values can be reached when the thermal mounting guidelines have been considered.

*** Please refer to the load cycle

General Specification

General Specification SOMANET Circulo	Circulo 7	Circulo 9
Supported Communication Standard	EtherCAT® (EtherCAT® is a registered trademark and patented technology licensed by Beckhoff Automation GmbH, Germany)
Number of Phases	3
Supported motors	BLDC, PMSM
Integrated safety functions	STO/SBC according to SIL 3, Pl e
Integrated Encoder 1 (multi-turn with battery)	(optional) 19 bit, absolute	(optional) 20 bit, absolute
Integrated Encoder 2	(optional) 19 bit, absolute	(optional) 20 bit, absolute
Incremental Encoder max frequency (external encoder)	1.4 MHz (supports up to 14,000 rpm with a 4,096 resolution incremental encoder)
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 Iphase (two phases measured, one computed) UDC Tmosfet Tcore
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)
Compliance with standards	CISPR 11 Class B (EN 55011:2016) IEC 61000-4-6:2013 IEC 61000-4-3:2020 IEC 61000-4-2:2008 IEC 61000-4-8:2009 IEC 61800-5-1:2007 IEC 60204-1:2016
Compliance with European directives	CE (EMC Directive 2014/30/EU, Machinery Directive 2006/42/EC)

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.

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°

Circulo 9

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

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