With Circulo, Synapticon complements the 'Somanet Servo Nodes' series, which can be integrated into the robot arm. With their circular shape and large hollow shaft diameters of 20 - 40 mm, the 'Circulo Somanet Servo Nodes' are suitable for fully integrated axes, which are mainly used in cobots. Initially, two variants are planned for the 12 to 60 V range. They have integrated encoders with a battery-based multiturn option that calibrate themselves automatically. The nodes also offer onboard safety functions such as STO and SBC via a 24 V IO. The connections are looped through, making cabling for Ethercat, logic voltage, STO and SBC simple. In addition, there is an interface to external encoders for ABZ, SSI, BiSS-C and A-format as well as for a motor temperature sensor. Further features: modular structure for fast modification, torque-based power control, smart break, dual loop control and the 'Somanet Motion Control Firmware', which is specially designed for cobot applications. The firmware includes a tool for system identification, auto-tuning and diagnostics. It is updated up to four times a year and supplemented with performance-enhancing elements.