Technical specifications

The SOMANET Circulo series is a combination of servo drive, position feedback sensor (encoder), mechanical integration solution, providing an integrated brake option and is also available with safe motion functionality, specifically designed for collaborative robot (cobot) joints and smart actuators.

Power Specification

	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 *	58 V DC cont.; 60 V DC peak
Minimum supply voltage *	14 V DC
Maximum input current DC	18 A	45 A
Maximum continuous phase current **	8 A_rms	20 A_rms
Maximum peak phase current ***	24 A_rms	60 A_rms
Maximum peak phase current (sine amplitude) ****	33.6 A	84 A
Maximum efficiency	> 98 %

* Please consider these definitions for supply voltage

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

*** Please refer to the load cycle

**** An explanation for the different values used can be found in our System Integration Guide.

General Specification

	Circulo 7	Circulo 9
Supported Communication Standard	EtherCAT with Safety over 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 I_phase (two phases measured, one computed), U_DC, t_mosfet, t_core
Encoder port 1	1 x BiSS-C / SSI
Encoder port 2	1 x ABI / Fast ABI ^[2] / BiSS-C / SSI / A-Format / HALL
Brake power output	1 A @ 48 V
Brake peak current	4 A
Digital I/O	5x Digital IO (3.3/5 V) 1x Digital Output (3.3/5 V) 1x Digital Input (24 V)
(Safe) Digital I/O	1x Safe Digital Output (3.3/5 V) 2x Safe Digital Input (24 V) 3x Digital IO (3.3/5 V) 1x Digital Output (3.3/5 V) 1x Digital Input (24 V)
Analog In	1x Analog In Single Ended (0-5 V) 1x Analog In Differential (±5 V)
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 61800-5-1:2022 IEC 60204-1:2016 IEC 61158-6-12: 2019 IEC 61800-7:2015
Compliance with European directives	CE (EMC Directive 2014/30/EU, Machinery Directive 2006/42/EC)

[1] The Hardware is protected against overtemperature 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 Brake

Brake specifications
Type	Solenoid actuator
Detailed specifications

Brake specifications

Type

Solenoid actuator

Detailed specifications