Circulo – more than a servo drive – Synapticon
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Circulo – more than a servo drive

Synapticon > Circulo – more than a servo drive

Industrial standard for cobots and smart actuators

Circulo is a full featured, fully integrated Servo Solution for robots and smart actuators that features:

  • Highest motion control performance
  • High speed EtherCAT Interface (DS402, up to 4kHz)
  • >10 Safety Functions (SIL3, Pl-e)
  • 2 x Integrated High Resolution Absolute Encoder (optional)
  • Integrated Motor Brake (optional)
  • Various sensor interfaces
  • Optimal mechanical integration for most compact actuator designs
  • 100% ready to go, no customization necessary
  • All necessary certifications (EMI, EMC and safety)
  • Easy to use commissioning and tuning tools

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Circulo is…

…a full featured servo drive

Whether you are planning a collaborative robotic arm,
a service robot or an automated logistics solution:

our compact and efficient, high-performance, decentral servo drives enable OEMs such as robot manufacturers and machine builders to realize better products in less time. 

  • Works with any type of PMSM/BLDC motor up to 60V
  • Model-predictive Field-oriented Control for high efficiency, maximum bandwidth
  • Dual-loop control, gain-scheduling, high frequency control loops
  • EtherCAT interface with high frequency (up to 4kHz), low latency, negligible jitter
  • Support for 2 position feedbacks of any type, torque sensors, KTY / PT1000
  • Motor Brake control with power saving mode and special latching brake algorithm
  • Most comprehensive set of certified safety features and much more…

…perfect for integration

a perfect fit for your robot actuator
with zero mess cabling

With their circular shape and hollow shaft they are ideal for fully integrated hollow-shaft actuators that are mainly used in robot arms.

  • Two standard sizes for 20mm and 40mm hollow shaft designs 
  • Designed for direct motor mounting
  • Optimized thermal management for cool robot/machine body
  • Smart cable guiding for zero cable mess and high reliability
  • Precisely machined body for flexible integration

… a dual high resolution absolute encoder

 

For the first time in a standard servo drive:

Servo drive and position encoders work as one! Circulo features up to two integrated absolute encoders with no extra cables and no inconvenient encoder calibration tools.

  • 2 x Magnetic Absolute Encoders (up to 20bit resolution)
  • Dual-loop configuration for motor and gear output feedback
  • Optional battery based multi-turn functionality
  • Very low profile <5mm for both encoders
  • Calibration and diagnostics GUI within servo commissioning software

…safety first: Circulo is defining the future for true human – robot collaboration. 

The optional Safe Motion Module for Circulo allows for SIL3 PL-e level safe motion functions over FSoE (FailSafe over EtherCAT). Implement your application according to ISO/TS 15066.

  • SIL3 PLe (ISO 13849 safety standard)
  • STO – SAFE TORQUE OFF
  • SBC – SAFE BRAKE CONTROL
  • SBT – SAFE BRAKE TEST
  • SS1 – SAFE STOP 1
  • SS2 – SAFE STOP 2
  • SLS – SAFELY LIMITED SPEED
  • SLP – SAFELY LIMITED POSITION
  • SLT – SAFELY LIMITED TORQUE
  • SAFE VELOCITY PROCESS DATA
  • SAFE POSITION PROCESS DATA
  • SAFE TORQUE PROCESS DATA
  • SAFE  ANALOG INPUTS

 Technical Specifications

Circulo 7 and Circulo 9

Communication InterfaceEtherCAT, DS402, CoE, FoE, FSoE
Rated supply voltage DC24-48 V
Maximum voltage DC60 V
Continuous phase current RMSCirculo 7: 8 Arms
Circulo 9: 20 Arms
Maximum phase current RMS (Load-cycle: 0.5s every 1.5 s)Circulo 7: 24 Arms
Circulo 9: 60 Arms
Maximum efficiency99 %
Integrated absolute encoder (option)Circulo 7: 2 x 19 bit (1 x multi-turn)
Circulo 9: 2 x 20 bit (1 x multi-turn)
Standby power consumptionTBD
Supported motorsBLDC, PMSM
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.)Port 1: SSI / BiSS-C
Port 2: ABZ / SSI / BiSS-C / Nikon
Brake outputNominal 1A @ 48V, peak 4A, pwm controlled 
GPIO5x DIO(3.3/5V), 1x DO(3.3/5V), 1x DI(24V)
1x Analog In Single Ended (0-10V)
1x Analog In Differential (+-5V)
HeatsinkAluminum, anodized, precision machined
Standard safety functionsSTO / SBC according to SIL 3 PL-e
Safe Motion Module (optional)FSoE, STO, SBC, SS1/2, SOS, SMS, 4xSLS, Safe Process Data (position, velocity, torque), 2 x safe analog inputs, 2 x safe digital input, 1 x safe digital output (OSSD)
Integrated brakeSolenoid actuator for latching motor brake (optional)
Compliance with standardsPending: UL, TÜV, CE

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