SYNAPTICON SOMANET Circulo 7 Manuale utente

SOMANET CIRCULO

Documentation v 5.1.1 | Built 2023-04-05

Technical specifications

The SOMANET Circulo series is a combination of servo drive, position feedback sensor

(encoder), mechanical integration solution, providing a pin 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 * 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 Arms 20 Arms

Maximum peak phase current *** 24 Arms 60 Arms

Maximum efficiency > 98 %

SOMANET CIRCULO

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* 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 Com-

munication Standard

EtherCAT® with Safety over EtherCAT®

(EtherCAT® is a registered trademark and patented tech-

nology 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 res-

olution incremental encoder)

Hardware protections Overcurrent, Overvoltage, Undervoltage, Over-

temperature[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

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Circulo 7 Circulo 9

Operating temperature 0 … 60°C ambient air (inside the enclosure)

0 … 70°C on the mounting surface (typically B-side / bear-

ing flange of the motor)

Max. installation altitude 2000 m

Storage temperature -35 to 85° C

Humidity Max 90 % rH

Sensors on-board 3 x Iphase (two phases measured, one computed), UDC,

tmosfet, tcore

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 (±2.5 V)

Safe Analog In 1x Safe Analog In Differential (±2.5 V)

Motor temperature sensor 1 x KTY (for example KTY84-130) / PT1000 / PT100 [3]

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Circulo 7 Circulo 9

input (user configurable)

Heatsink Aluminum

Integrated brake Yes (optional)

Compliance with stand-

ards

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

Encoder Specifications

SOMANET Circulo is available in different versions:

lWith one additional encoder ring in two positions which is

SOMANET CIRCULO

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mounted on the motor for position control, velocity control and commutation.

lWith two additional encoder rings, one mounted on the motor for velocity control (dual loop

control) and commutation and one mounted on the joint for position control.

Attention:

Be aware of the following limitations when using an integrated encoder:

When the integrated encoder 1 is used, no external encoder can be used on port 1.

If integrated encoder 2 is used, only Hall can be configured as external encoder 2 on

port 2.

Details can be found in the wiring section.

Circulo 7

Position 1 (inner) Position 2 (outer)

Operating principle Off-axis magnetic field scanning

Scanning principle 2 arrays of Hall sensors for 2 magnetic tracks

Interface BiSS

Encoder resolution 19 bit

Absolute position On both encoders

Multiturn resolution 18 bit (battery based) l

Maximum speed 12000 rpm

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Circulo 9

Position 1 (inner) Position 2 (outer)

Operating principle Off-axis magnetic field scanning

Scanning principle 2 arrays of Hall sensors for 2 magnetic tracks

Interface BiSS

Encoder resolution 20 bit

Absolute position On both encoders

Multiturn resolution 18 bit (battery based) l

Maximum speed 6000 rpm

Accuracy and repeatability of the integrated encoders

Circulo 7

Position 1 (inner) Position 2 (outer)

Accuracy ±90” *

±0.025°

±72” *

±0.02°

Repeatability ±14”

±0.0039°

±25”

±0.0069°

Circulo 9

Position 1 (inner) Position 2 (outer)

Accuracy ±72” *

±0.02°

±72” *

±0.02°

Repeatability ±8”

±0.0022°

±13”

±0.0036°

SOMANET CIRCULO

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* The specified accuracy corresponds to the encoder-related errors only. Installation-related

errors such as runout and eccentricity are not considered. For more details see Encoder accur-

acy.

Functions

Encoder Position 1 (inner)

Mounted on Configuration 1: joint

Configuration 2: motor

Functions Configuration 1: position

Configuration 2: position / velocity / commutation

Encoder Position 2 (outer)

Mounted on Configuration 1: motor

Configuration 2: -

Functions Configuration 1: velocity / commutation

Configuration 2: -

Magnetic data

Parameter

Magnetic field strength at the surface of the chip 15 - 100 kA/m

Operating magnetic field frequency max 7 kHz

External magnetic field max 20 mT

Safety specifications

System requirements

Required Firmware

lv4.2.0 or higher

Supported Hardware

SOMANET CIRCULO

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lSOMANET Circulo 7

lSOMANET Circulo 9

Safety parameters

Safety Integrity Level (SIL) according to IEC 61508:2010 SIL 3

Performance Level (PL) according to ISO 13849-1:2015 PL e

Reaction time 10 ms

Safety parameters IEC 61508:2010

Probability of dangerous failure per hour (PFH d) 1.59∙10 -10 /hour

Probability of dangerous failure on demand (PFD avg) 1.39∙10 -5

Safe Failure Fraction (SFF) 99.95%

Hardware Fault Tolerance (HFT) 1

HW-type Type A

Mission time TM20 a

Supported demand rate High, Low

Safety parameters ISO 13849-1:2015

Category Cat. 3

Meantime to dangerous Failure (MTTF d) 3319 years (capped to 100 years)

Diagnostic coverage (DC avg) 99%

Common Cause Failure (CCF) > 65

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Installation requirements

Max. installation altitude 2000 m

Pollution Degree PD 2

Supported Motors 1 × 3-phase BLDC-Motor and 1 active

brake

Attention:

Servo drives with safety functions shall be used only in Pollution Degree environments

class PD 2 according to IEC 61800-5-1:2007. During normal operation only non-con-

ductive pollution may occur, temporarily occurring conductivity caused by condensation

may only be expected when the servo drive is out of operation.

PD2 environment can be reached for example with environmentally controlled location

which does not contain conductive contamination or by using IP54 enclosure according to

IEC 60529:1989 + A1:1999 + A2:2013.

Safe digital inputs ( STO-SBC input)

Number of digital inputs 2 (dual-channel safety input for activating STO-

SBC function)

Digital input type according to

IEC61131-2:2007

Type 1

Voltage range 0-60 VDC

Max. transient input voltage 80 VDC

Input voltage, logic 1 15-60 V

Input voltage, logic 0 0-5 V

SOMANET CIRCULO

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