endeIntegrated Motion

SOMANET Circulo

Synapticon > Products > SOMANET Circulo

ALL-IN-ONE SERVO DRIVE FOR ROBOTS AND COBOTS

Robot motion control for the future. SOMANET Circulo is the world’s first Integrated Motion Device: a complete servo solution for robots and smart actuators that features:

  • Highest motion control performance
  • High speed EtherCAT Interface (DS402, up to 4kHz)
  • >10 Certified 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
  • Meets all relevant requirements (EMC, 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:With our compact and efficient, high-performance, decentral servo drives, OEMs such as robot manufacturers and machine builders can utilize Synapticon’s advanced motion control technology to realize better products inless time. 

  • Works with any type of PMSM/BLDC motor up to 60V and 60Arms
  • 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

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.

  • 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 DIGITAL GPIO AND ANALOG INPUTS

*Functions must be implemented inside safety controller using safe process data.

TECHNICAL SPECIFICATION
SOMANET Circulo 7 + Circulo 9
Communication Interface EtherCAT, DS402, CoE, FoE, FSoE
Rated supply voltage DC 24-48 V
Maximum voltage DC 60 V
Continuous phase current RMS Circulo 7: 8 Arms
Circulo 9: 20 Arms
Maximum phase current RMS
for more details please refer to our documentation		 Circulo 7: 24 Arms
Circulo 9: 60 Arms
Maximum efficiency 99 %
Integrated absolute encoder (option) Circulo 7: 2 x 19 bit (1 x multi-turn)
Circulo 9: 2 x 20 bit (1 x multi-turn)
   
Supported motors BLDC, PMSM
Hardware protections Overcurrent, overvoltage,undervoltage, overtemperature, PWM deadtime, PWM shoot through
Sensors on-board 3 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 output Nominal 1A @ 48V, peak 4A, pwm controlled 
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)
Heatsink Aluminum, anodized, precision machined
Standard safety functions STO / SBC according to SIL 3 PL-e
Safe Motion Module (optional) FSoE, STO, SBC, SS1/2, SOS, SMS, 4xSLS, Safe Process Data (position, velocity), 1 x safe analog input, 2 x safe digital inputs, 1 x safe digital output (OSSD)
Integrated brake Solenoid actuator for latching motor brake (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)

Certificates:

  • TÜV Süd Mark (Functional Safety)

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