deenIntegrated 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 System (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

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

INTEGRATED BRAKE SYSTEM

SOMANET Circulo now comes with a BRAKE System preventing the motor from unwanted rotary motion.

  • Motor speed is reduced to a low level before the brake latches
  • The brake prevents the motor from unwanted rotary motion
    (e.g. in case of power loss)
  • The Circulo Brake System is a perfect match for application such
    as inside robot arms and mobile robots

WHY IS A BRAKE SYSTEM NEEDED?

The brake system’s latching solenoid is only activated when the motor drive  is disabled, or in the event of an emergency stop.

This brake system, which acts as a holding brake, prevents any movement of the robot. This prevents unwanted contact with the workpiece to be machined, just like unwanted contact between robot and human.

SMALLER

60 – 90%
space saving

LIGHTER

50 – 90%
weight reduction

MORE ECONOMIC

65% – 90% reduced power
consumption (3W)

…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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