SYNAPTICON SOMANET Circulo 7 User manual

SOMANET CIRCULO
Documentation v 5.1.1 | Built 2023-04-05
© 2023 Synapticon GmbH

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 %
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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
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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°
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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
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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
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Safe digital inputs ( STO-SBC input)
Input current Max. 6 mA (@24 VDC)
Test pulse toleration (OSSD pulses) Max. 1 ms
Reverse voltage protected Yes
Allowed discrepancy between digital
inputs
(see Encoders and IO)
100 ms
De-activation time 10 ms
Safe brake output (SBC)
Number of digital outputs 2 (dual-channel safety output for one
brake system)
Max. output voltage Servo drive main power supply (48 VDC)
Min. output voltage 0 V
Max. current. 1 A
Max. peak current. 4 A
Load cycle
The maximum peak current can be applied when the following criteria are fulfilled:
1. Duration of one peak doesn’t exceed 10 seconds
2. Mounting temperature and ambient temperature within operating range
3. Over any period of 90 seconds, the RMS value I RMS,90s of the current does not
exceed the allowable continuous current I cont,max. In the example of the current con-
sisting of pulses with I = I peak,max and idle phases of I = 0 between them, the max-
imum allowable duty cycle would be 11.1% (e.g. 10 seconds of I = I
peak,max,
followed by 80 seconds of I = 0). In a more general way, this requirement can be writ-
ten as
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Variants and Ordering Information
Type code
Encoder Variants
Circulo features different encoder options consisting of internal and external encoders.
The capabilities of these variants are summarized below:
ECNN ECAN ECBN ECDL
Internal Encoder 1
(Inner Ring)
YES YES
Internal Encoder 2 YES YES
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ECNN ECAN ECBN ECDL
(Outer Ring)
Integrated Multiturn YES YES
External Encoder Port 1 YES YES
External Encoder Port 2 YES YES
Ordering information
Please place your purchase requests to [email protected].
SOMANET Circulo is available in different variants.
For making a purchase or request please include the MPN according to the following table:
Circulo 7
Option MPN Product Catalog Name*
Standard (no integrated
encoders)
CR7-48-24-
ECNN
SOMANET Circulo 7 (CR7-48-24-
ECNN)
Single Encoder Position 1
(inner)
CR7-48-24-
ECAN
SOMANET Circulo 7 (CR7-48-24-
ECAN)
Single Encoder Position 2
(outer)
CR7-48-24-
ECBN
SOMANET Circulo 7 (CR7-48-24-
ECBN)
Dual Encoder CR7-48-24-
ECDL
SOMANET Circulo 7 (CR7-48-24-
ECDL)
Circulo 9
Option MPN Product Catalog Name*
Standard (no integrated
encoders)
CR9-48-60-
ECNN
SOMANET Circulo 9 (CR9-48-60-
ECNN)
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Option MPN Product Catalog Name*
Single Encoder Position 1
(inner)
CR9-48-60-
ECAN
SOMANET Circulo 9 (CR9-48-60-
ECAN)
Single Encoder Position 2
(outer)
CR9-48-60-
ECBN
SOMANET Circulo 9 (CR9-48-60-
ECBN)
Dual Encoder CR9-48-60-
ECDL
SOMANET Circulo 9 (CR9-48-60-
ECDL)
* this name will appear in your order confirmation and invoice.
Downloads
Documents
DECLARATION OF CONFORMITY SOMANET CIRCULO
EC-TYPE EXAMINATION SOMANET CIRCULO STO/SBC FUNCTIONALITY
CERTIFICATE SOMANET CIRCULO STO/SBC FUNCTIONALITY
STATEMENT SOMANET CIRCULO MECHANICAL IMMUNITY (SHOCK AND VIBRATION
TESTS)
CAD Files
STEP MODEL OF CIRCULO 7
STEP MODEL OF CIRCULO 9
CIRCULO 7 MECHANICAL INTEGRATION EXAMPLE
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Hardware Installation Manual
Attention:
When dealing with electronic devices, always consider these handling instructions!
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.
Wiring instructions
Power and brake
Encoders and IO
Analog input specification
Temperature sensor
Battery for Multiturn
EtherCAT®-STO Cable
Maximum cable lengths
Mating parts
Mechanical integration
Circulo Mounting Example
Dimensions and Drawings
Mounting encoder rings
Encoder Calibration and accuracy
Mechanical Assembly
Thermal Mounting Considerations
Encoder calibration
LED signals
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Safety functions (STO-SBC)
Safety connectors
Wiring the safety inputs
Using the safety functions
Examples for realising safety functions
Emergency stop
Prevention of unexpected start-up
Commissioning and maintenance
Changelog of the safety-related documentation
Wiring instructions
Overview of connectors
Power and brake
Encoders and IO
Analog input specification
Temperature sensor
Battery for Multiturn
EtherCAT®-STO Cable
Maximum cable lengths
Mating parts
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Power and brake
Supply and phases
Attention:
No reverse polarity protection! Always ensure that the power cables are connected cor-
rectly, otherwise the Drive may be damaged beyond repair!
Note:
SOMANET servo drives are densely packed with high-performance components. Even at
idle/torque off, several components such as power supplies, cause the servo drive to get
warm, especially when it’s not connected to any heat conducting structure. The servo
drives’ power stages and control algorithms were optimized for efficiency at high power
output and actually make them one of the most efficient servo drives available. The heat
generation is not linear, which makes it actually more noticable at idle or low power.
Please ensure by design of your mounting situation that the heat interface is connected to
sufficient structure to appropriately dissipate generated heat.
Note:
Use a protected extra-low voltage (PELV) power supply.
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Warning about using contactors behind the power supply
Attention:
Our servo drives are designed for voltages between 24 V DC and 48 V DC (55 V DC; Max,-
cont 60 V DC;Max,peak ), they should be run with an appropriate extra-low voltage supply.
Please do not use contactors behind the power supply since the transient-voltage-sup-
pression diodes could get damaged due to the power-up voltage increase (Surge). This is
likely to happen when the power up occurs fast and can lead to complete failure of your
servo drive.
If contactors behind the power supply are used, it’s necessary to include an uni-dir-
ectional TVS diode type 1.5KE62A-E3/54* between Main Power Supply and Ground of
the terminal.
* this model has been successfully tested by Synapticon. Other products with the same
specifications may also be appropriate but can’t be recommended.
In case you are running several servo drives behind a contactor, please use an uni-directional
TVS diode on each drive because of the inductances of the wiring.
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Functional Earth
Functional Earth (FE) and the Ground (GND) of the electronic boards are electrically isolated.
The blank bottom side of the heatsink has a flat conductive surface and can be used as a con-
nection for Functional Earth (FE).
For a better EMI shielding around the electronic boards, it is necessary to electrically connect
the conductive surfaces (marked blue in the following picture) to the chassis of the motor or the
robot.
Important:
Please ensure that the chassis is properly grounded.
Note:
Protective Earthing is not required for Extra-Low Voltage Drives.
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Connecting a brake
If your system has an attached brake, please connect the brake cables to the brake connector.
These two threads should be twisted together or at least be paired to have a minimum area
between them.
Note:
This brake integrates Safe Brake Control functionality (SBC).
Attention:
The brake output is not short circuit protected. The brake power output may get irre-
versibly damaged in case of a short circuit.
Encoders and IO
Encoder overview
Important:
One encoder has to be mounted on the motor side for commutation purpose. An encoder
on a gear out side can not be used for commutation!
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