deenIntegrated Motion

Circulo 9

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SOMANET Circulo: the World’s first industrial standard for collaborative robots.

With its circular shape and hollow shaft with a diameter of 40 mm SOMANET Circulo 9 is ideal for a fully integrated Axis which are mainly used in Collaborative Robots. SOMANET Circulo servo drives can have up to two integrated absolute encoders (20 bits) with a battery-based multi-turn option which automatically calibrates. In addition, the nodes offer on-board safety features such as STO and SBC via a 24V I/O. Because the cable connections can easily be looped through, the wiring for EtherCAT, Logic Voltage, STO and SBC are extremely simple. In addition, there is an interface to external encoders for ABZ, SSI, BiSS-C and A-format. SOMANET Circulo also offers an interface and mechanical device for a Cobot-type locking brake and a motor temperature sensor (PT100, PT1000, KTY).

  • hollow shaft for optimized cable guiding
  • 2 internal encoders (optional)
  • battery-based multi-turn option
  • optional integrated brake
  • STO/SBC on-board
  • external encoder interface for ABZ, SSI, BiSS-C and A-format
  • modular structure for fast modification
  • torque-based performance control
  • smart brake
  • Dual-Loop Control
  • Model-predictive Field-oriented Control, allow a low heat dissipation of the drives while keeping up high motion control frequencies

SOMANET Circulo is specifically designed for the needs of Collaborative Robotic Arms.

DocumentationDownload CAD model

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Additional information


Rated supply voltage DC 24-48 V
Maximum voltage DC 60 V
Continuous phase current RMS 20 A
Maximum phase current RMS (for details about the max phase current,
refer to our documentation
60 A
Maximum efficiency 99 %
Integrated absolute encoder (option)2 x 20 bit (1 x multi-turn)
Standby power consumption TBD
Supported CommunicationEtherCAT
Number of phases3
Hardware protectionsOvercurrent, overvoltage,undervoltage, overtemperature, PWM deadtime, PWM shoot through
Sensors on-board3 x I_phase, U_DC, t_MOSFET, t_core
Encoder interface (ext.)1 x ABZ / SSI / BiSS-C /Nikon / Tamagawa
Brake pwr. output1A @ 48V
GPIO 5x DIO(3.3/5V), 1x DO(3.3/5V), 1x DI(24V)

1x Analog In Single Ended (0-10V),1x Analog In Differential (+-5V)
Integrated safetySTO / SBC SIL 3 PL e
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
  • IEC 61800-5-2:2017
  • ISO 13849-1:2015
  • IEC 61508:2010 parts 1-7

Compliance with European directives:

  • CE (EMC Directive 2014/30/EU)
  • CE (Machinery Directive 2006/42/EC)


  • TÜV Süd Mark (Functional Safety)
Weight 133 g
Dimensions 92.20 × 92.20 × 22 mm