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SOMANET CIRCULO

Servo Drive

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
  • Technical

Description

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…



 circulo_sizes_vertical_V

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

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



SAFETY FIRST

DEFINING THE FUTURE FOR TRUE HUMAN-ROBOT COLLABORATION.

The optional Safe Motion Module for Circulo allows for SIL3 PLe 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

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

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)