Technical specifications

The SOMANET Circulo series is a combination of servo drive, position feedback sensor (encoder), mechanical integration solution, providing a pin brake option , 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 *	55 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 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

General Specification

	Circulo 7	Circulo 9
Supported Communication Standard	EtherCAT with Safety over EtherCAT (EtherCAT and Safety over EtherCAT are registered trademarks and patented technologies licensed by Beckhoff Automation GmbH, Germany)
Number of Phases	3
Supported motors	BLDC, PMSM
Integrated safety functions	Safe Torque Off (STO) Safe Brake Control (SBC, part of STO function) Safe Stop 1 (SS1) with time monitoring Safe Stop 1 (SS1) with ramp monitoring Safe Stop 2 (SS2) with ramp monitoring Safe operating stop (SOS) Safely Limited Speed (SLS) Safe maximum speed (SMS) Safe position Safe velocity
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 , 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)
Safe Analog In	1x Safe 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	IEC 61800-5-2:2016 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
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 latch
Detailed specifications	TBD