Technical specifications

Power Specification

Power Specification SOMANET Circulo	Circulo 7	Circulo 9
Rated supply voltage DC	24-48 V
Maximum voltage DC	65 V
Continuous phase current RMS	8 A	20 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 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
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 port 2	1 x ABZ / SSI / BiSS-C / A-Format
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

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.

Encoder Specifications	Circulo 7	Circulo 9
Operating principle	Off-axis magnetic field scanning
Scanning principle	2 arrays of Hall sensors for 2 magnetic tracks
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

Accuracy and repeatability of the encoder rings

	Circulo 7 Inner ring	Circulo 7 Outer ring	Circulo 9 Inner ring	Circulo 9 Outer ring
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.

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