Technical specifications

Power Specification

Power Specification SOMANET Circulo		Circulo 7	Circulo 9
Nominal supply voltage DC		24-55 V
Minimum supply voltage DC *		14 V
Maximum voltage DC **		60 V
Maximum continuous phase current RMS	I cont,max	8 A	20 A
Maximum peak phase current RMS ***	I peak,max	24 A	60 A
Maximum efficiency		99 %
Standby power consumption		TBD

* The minimal supply voltage is sufficient for configuring thr drive but will not turn a motor

** The maximum supply voltage is only for buffering peaks when braking.

*** The maximum peak current can be applied as all of the following criteria are fulfilled:

1. Duration of one peak doesn’t exceed 10 seconds

2. Mounting temperature and ambient temperature within operating range

3. Over any period of 90 seconds, the RMS value I _RMS,90s of the current does not exceed the allowable continuous current I _cont,max. In the example of the current consisting of pulses with I = I _peak,max and idle phases of I = 0 between them, the maximum allowable duty cycle would be 11.1% (e.g. 10 seconds of I = I _peak,max, followed by 80 seconds of I = 0). In a more general way, this requirement can be written as

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
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: 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 0 … 70°C on the mounting surface (typically B-side / bearing flange of the motor)
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 ABZ / SSI / BiSS-C / A-Format
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 1
Heatsink	Aluminum
Integrated brake	Yes (optional)

1

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:

If the integrated encoder Position 1 is used, the external encoder 1 can not be used.

If the integrated encoder Position 2 is used, the external encoder 2 can only be used with ABI or Hall.

Details can be found in the wiring section.

Circulo 7Circulo 9Circulo 7

Encoder Specifications	Encoder Position 1	Encoder Position 2
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	Encoder Position 1	Encoder Position 2
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	Encoder Position 1	Encoder Position 2
Accuracy	±90” ±0.025°	±72” ±0.02°
Repeatability	±14” ±0.0039°	±25” ±0.0069°

Note

These preliminary values are the achievable accuracy and repeatability after encoder calibration.

Circulo 9

Accuracy / repeatability	Encoder Position 1	Encoder Position 2
Accuracy	±72” ±0.02°	±72” ±0.02°
Repeatability	±8” ±0.0022°	±13” ±0.0036°

Note

These preliminary values are the achievable accuracy and repeatability after encoder calibration.

Functions

Encoder Position 1
Mounted on	Configuration 1: joint Configuration 2: motor
Functions	Configuration 1: position Configuration 2: position/velocity/commutation

Encoder Position 2
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

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	CR7-48-24-ECAN	SOMANET Circulo 7 (CR7-48-24-ECAN)
	Single Encoder Position 2	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	CR9-48-60-ECAN	SOMANET Circulo 9 (CR9-48-60-ECAN)
	Single Encoder Position 2	CR9-48-60-ECBN	SOMANET Circulo 9 (CR9-48-60-ECBN)
	Dual Encoder	CR9-48-60-ECNN	SOMANET Circulo 9 (CR9-48-60-ECNN)

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