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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SOMANET CIRCULO
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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
© 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich
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°
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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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SOMANET CIRCULO
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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
© 2023 Synapticon GmbH | Steinbeisstraße 1 | D-71101 Schönaich
SOMANET CIRCULO
Documentation v 5.1.1 | Built 2023-04-05 10/915