AX2550/AX2850 Users Manual

SDC1130
1x40A
Single Channel
Forward/Reverse
Brushed DC Motor
Controller
Roboteq’s SDC1130 controller is designed to convert commands received from an RC radio, Analog Joystick, wireless
modem, PC (via RS232) or microcomputer into high voltage and
high current output for driving one DC motor. Fitting a very
compact 70x70m board, and designed for maximal ease-of-use,
it is delivered with all necessary cables and hardware, and is
ready to use in minutes.
Features List
The controller features a high-performance 32-bit microcomputer and quadrature encoder inputs to perform advanced
motion control algorithms in Open Loop or Close Loop (Speed
or Position) modes. The SDC1130 features several Analog,
Pulse and Digital I/Os which can be remapped as command or
feedback inputs, limit switches, or many other functions.
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Full forward & reverse control. Four quadrant operation.
Supports regeneration
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Operates from a single 10V-30V power source
Numerous safety features are incorporated into the controller
to ensure reliable and safe operation. The controller's operation
can be extensively automated and customized using Basic Language scripts. The controller can be reprogrammed in the field
with the latest features by downloading new operating software from Roboteq.
Applications
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Industrial Automation
Fan & Pump Control
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Robotic actuators
Automatic Guided Vehicles
Terrestrial and Underwater Robotic Vehicles
Telepresence Systems
Animatronics
SDC1130 Motor Controller Datasheet
Auto switch between RS232 (12V levels or non-inverted
TTL levels), Analog, or Pulse based on user-defined priority
Input for direct connection to Spektrum digital RC radios
Built-in high-power power drivers for one DC motor at up
to 40A
Built-in programming language for automation and customization
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Programmable current limit up to 40A for protecting controller, motors, wiring and battery
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Up to 4 Analog Inputs for use as command and/or feedback
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Up to 5 Pulse Length, Duty Cycle or Frequency Inputs for
use as command and/or feedback
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Up to 6 Digital Inputs for use as Deadman Switch, Limit
Switch, Emergency stop or user inputs
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Quadrature Encoder input with 32-bit counter
Winch & Cranes
Machine control
RS232, 0-5V Analog, or Pulse (RC radio) command modes
Built-in programming language for automatic operation
and/or customized functionality
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2 general purpose 40V, 1A output for brake release or
accessories
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Selectable min, max, center and deadband in Pulse and
Analog modes
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Selectable exponentiation factors for each command
inputs
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Trigger action if Analog, Pulse or Encoder capture are outside user selectable range (soft limit switches)
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Open loop or closed loop speed control operation
1
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Closed loop position control with analog or pulse/frequency feedback
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Precise speed and position control when Encoder feedback is used
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PID control loop
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Configurable Data Logging of operating parameters on
RS232 Output for telemetry or analysis
Built-in Battery Voltage and Temperature sensors
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Power wiring via terminal strip wires up to AWG12
2.76” (70mm) L, 2.76” W (70mm), 0.78” (20mm) H
-40o to +85o C operating environment
3.5oz (100g)
Easy configuration, tuning and monitory using provided
PC utility
Field upgradeable software for installing latest features
via the internet
Power Control input for turning On or Off the controller
from external microcomputer or switch
No consumption by output stage when motors stopped
Regulated 5V output for powering Encoders, RC radio,
RF Modem or microcomputer
Programmable acceleration and deceleration
Programmable maximum forward and reverse power
Ultra-efficient 5 mOhm ON resistance MOSFETs
Stall detection and selectable triggered action if Amps is
outside user-selected range
Overvoltage and Undervoltage protection
Programmable Watchdog for automatic motor shutdown
in case of command loss
Overtemperature protection
Diagnostic LED
Efficient heat sinking using conduction bottom plate.
Operates without a fan in most applications
Orderable Product References
TABLE 1.
2
Reference
Number of Channels
Amps/Channel
Volts
SDC1130
1
40
30
SDC1130 Motor Controller Datasheet
Version 1.2. May 3, 2012
Power Wires Identifications and Connection
Important Safety Disclaimer
Dangerous uncontrolled motor runaway condition can occur for a number of reasons, including, but not
limited to: command or feedback wiring failure, configuration error, faulty firmware, errors in user script or
user program, or controller hardware failure.
The user must assume that such failures can occur and must make his/her system safe in all conditions.
Roboteq will not be liable in case of damage or injury as a result of product misuse or failure.
Power Wires Identifications and Connection
Power connections are made through a 6 position screw terminal.
Battery and Motor Connections
M1+ M1- VMot GND M2+ M2-
P2
P4
P3
GND
PwrCtrl
J2
8
P1
J1
15
1
Spektrum
Radio Connector
9
IO Connector
FIGURE 8. Controller layout
SDC1130 Motor Controller Datasheet
3
The diagram below shows how to wire the controller and how to turn power On and Off.
F2
1A
SW1 Main
On/Off Switch 1A
PwrCtrl
Note 1
Ground
Backup
Battery
M1+
M1-
Diode
>20A
Resistor
1K, 0.5W
Note 3
Motor
Note 2
VMot
F1
Note 4
M2+
M2-
SW2
Emergency
Contactor or
Cut-off Switch
Ground
+
I/O Connector
Main
Battery
Note 5
Do not Connect!
FIGURE 9. Powering the controller. Thick lines identify MANDATORY connections
M
M1+ M1-
M2+ M2-
FIGURE 10. SDC1130 motor wiring detail
Important Warning
Carefully follow the wiring instructions provided in the Power Connection section of the User Manual. The
information on this datasheet is only a summary.
Mandatory Connections
It is imperative that the controller is connected as shown in the above diagram in order to ensure a safe and trouble-free operation. All connections shown as thick black lines line are mandatory. The controller must be powered
On/Off using switch SW1on the Power Control Header.
Emergency Switch or Contactor
The battery must be connected in permanence to the controller’s VMot power via an input emergency switch or
contactor SW2 as additional safety measure. The user must be able to deactivate the switch or contactor at any
time, independently of the controller state.
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SDC1130 Motor Controller Datasheet
Version 1.2. May 3, 2012
Use of Safety Contactor for Critical Applications
Precautions and Optional Connections
Note1: Optional backup battery to ensure motor operation with weak or discharged battery.
Note2: Use precharge 1K Resistor to prevent switch arcing.
Note3: Insert a high-current diode to ensure a return path to the battery during regeneration in case the fuse is
blown.
Note4: Optionally ground the VMot wires when the controller is Off if there is any concern that the motors could
be made to spin and generate voltage in excess of 35V.
Note5: Beware not to create a path from the ground pins on the I/O connector and the battery’s minus terminal.
Use of Safety Contactor for Critical Applications
An external safety contactor must be used in any application where damage to property or injury to person can
occur because of uncontrolled motor operation resulting from failure in the controller’s power output stage.
F2
1A
SW1 Main
On/Off Switch 1A
PwrCtrl
Ground
Diode
>20A
Resistor
1K, 0.5W
VMot
F1
to +40V Max
Digital Out
I/O Connector
+
-
Ground
Main
Battery
FIGURE 11. Contactor wiring diagram
The contactor coil must be connected to a digital output configured to activate when “No MOSFET Failure”. The
controller will automatically deactivate the coil if the output is expected to be off and battery current of 500mA or
more is measured for more than 0.5s. This circuit will not protect against other sources of failure such as those
described in the “Important Safety Disclaimer” on page 3.
SDC1130 Motor Controller Datasheet
5
Sensor and Commands Connection
Connection to RC Radio, Microcomputer, Joystick and other low current sensors and actuators is done via the 15
connector located in front of the board. The functions of many pins vary depending on user configuration. Pin
assignment is found in the table below.
8
1
15
9
FIGURE 12. Connector pin locations
TABLE 4.
Connector Pin
Power
1
9
Dout
Com
RC
Ana
Dinput
Enc
Default Config
DOUT1
Motor Brake
DOUT2
Safety Contactor
2
TxOut
10
RS232Tx
RC5
3
ANA1 (1)
DIN5
AnaCmd (3)
RxIn
11
RS232Rx
RC4
4
ANA4
RC1
12
5
RC3
DIN4
DIN1
ANA3
Unused
ENCA (2)
DIN3
RCRadio/
Encoder (1)
Unused
GND
13
GND
14
5VOut
6
7
TTL TxD / SCLI
TTL Serial TxD
TTL RxD / SDAI
TTL Serial RxD
15
DIN6
8
RC2
ANA2
DIN2
Unused
ENCB (2)
Encoder (1)
Note 1: Pin assignment for this signal may differ from other Roboteq controller models.
Note 2: Encoder input requires RC inputs 1, 2, 3 and 4 to be disabled. Encoder is disabled in factory default.
Note 3: Analog command is disabled in factory default configuration.
Default I/O Configuration
The controller can be configured so that practically any Digital, Analog and RC pin can be used for any purpose.
The controller’s factory default configuration provides an assignment that is suitable for most applications. The
figure below shows how to wire the controller to two analog potentiometers, an RC radio, and the RS232 port. It
also shows how to connect the two outputs to motor brake solenoids. You may omit any connection that is not
required in your application. The controller automatically arbitrates the command priorities depending on the presence of a valid command signal in the following order: 1-RS232, 2-RC Pulse, 3-None. If needed, use the Roborun+
PC Utility to change the pin assignments and the command priority order.
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SDC1130 Motor Controller Datasheet
Version 1.2. May 3, 2012
Status LED Flashing Patterns
RC in
RS232
Ground
TxOut
RxIn
1
8
1
Motor Brake
Safety Contactor
15
9
Pot 1
FIGURE 13. Factory default pins assignment
Analog command mode is disabled by default. The drawing shows suggested assignment of Pot 1 to ANA4. Use
the PC utility to enable and assign analog inputs.
Status LED Flashing Patterns
After the controller is powered on, the Power LED will tun on, indicating that the controller is On. The Status LED
will be flashing at a 2 seconds interval. The flashing pattern provides operating or exception status information.
Idle - Waiting for Command
RS232 Mode
RC Pulse Mode
Analog Mode
FIGURE 14. Normal Operation Flashing Patterns
Short Detected
Overheat
Under or Over Voltage
Power Stage Off
FIGURE 15. Exception or Fault Flashing Patterns
Additional status information may be obtained by monitoring the controller with the PC utility.
SDC1130 Motor Controller Datasheet
7
Electrical Specifications
Absolute Maximum Values
The values in the table below should never be exceeded. Permanent damage to the controller may result.
TABLE 5.
Parameter
Measure point
Min
Typ
Max
Units
Battery Leads Voltage
Ground to VMot
10
35
Volts
Reverse Voltage on Battery Leads
Ground to VMot
-1
Motor Leads Voltage
Ground to M+, M-
35
Volts
Digital Output Voltage
Ground to Output pins
30
Volts
Analog and Digital Inputs Voltage
Ground to any signal pin on 15-pin connectors
15
Volts
RS232 I/O pins Voltage
External voltage applied to Rx/Tx pins
15
Volts
Board Temperature
Board
85
oC
Humidity
Board
100 (2)
%
Volts
-40
Note 1: Maximum regeneration voltage in normal operation. Never inject a DC voltage from a battery or other fixed source.
Note 2: Non-condensing.
Power Stage Electrical Specifications (at 25oC ambient)
TABLE 6.
Parameter
Measure point
Min
Typ
Max
Units
Battery Leads Voltage
Ground to VMot
Motor Leads Voltage
Ground to M+, M-
10 (1)
35
Volts
0 (1)
35 (2)
Volts
Over Voltage protection range
Ground to VMot
5
30 (4)
35 (2)
Volts
Under Voltage protection range
Ground to VMot
0
5 (4)
35
Volts
Idle Current Consumption
VMot or Pwr Ctrl wires
50
ON Resistance (Excluding wire resistance)
VMot to M+, plus M- to
Ground at 100% power
75 (5)
100
Max Current for 30s
Motor current
Continuous Max Current
Motor current
20 (6)
Amps
Current Limit range
Motor current
1
30 (7)
40
Amps
Stall Detection Amps range
Motor current
1
30 (7)
40
Amps
Stall Detection timeout range
Motor current
1
500 (8)
65000
milliseconds
Motor Acceleration/Deceleration range
Motor current
100
500 (9)
65000
milliseconds
mA
10
mOhm
40
Amps
Note 1: Negative voltage will cause a large surge current. Protection fuse needed if battery polarity inversion is possible.
Note 2: Maximum regeneration voltage in normal operation. Never inject a DC voltage from a battery or other fixed source.
Note 3: Minimum voltage must be present on VMot or Power Control wire.
Note 4: Factory default value. Adjustable in 0.1V increments.
Note 5: Current consumption is lower when higher voltage is applied to the controller’s VMot or PwrCtrl wires.
Note 6: Estimate. Limited by heatsink temperature. Current may be higher with better cooling.
Note 7: Factory default value. Adjustable in 0.1A increments.
Note 8: Factory default value. Time in ms that Stall current must be exceeded for detection.
Note 9: Factory default value. Time in ms for power to go from 0 to 100%.
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SDC1130 Motor Controller Datasheet
Version 1.2. May 3, 2012
Electrical Specifications
Important Warning:
Beware that regenerative braking can create high voltage at the controller's power inputs. Use the controller only with batteries. See user manual for special precautions when using a power supply.
Command, I/O and Sensor Signals Specifications
TABLE 7.
Parameter
Measure point
Min
Typ
Max
Units
Main 5V Output Voltage
Ground to 5V pins on DSub15
4.6
4.75
4.9
Volts
5V Output Current
5V pin on DSub15
100
mA
Digital Output Voltage
Ground to Output pins
40
Volts
Digital Output Current
Output pins, sink current
1
Amps
Output On resistance
Output pin to ground
0.75
1.5
Ohm
Output Short circuit threshold
Output pin
1.4
1.75
Amps
Input Impedances
AIN/DIN Input to Ground
Digital Input 0 Level
Ground to Input pins
-1
1
Volts
Digital Input 1 Level
Ground to Input pins
3
15
Volts
Analog Input Range
Ground to Input pins
0
Analog Input Precision
Ground to Input pins
0.5
%
Analog Input Resolution
Ground to Input pins
1
mV
Pulse durations
Pulse inputs
20 000
10
us
Pulse repeat rate
Pulse inputs
50
250
Hz
Pulse Capture Resolution
Pulse inputs
1.05
53
kOhm
5.1
Volts
1
us
Frequency Capture
Pulse inputs
100
10 000
Hz
Encoder count
Internal
-2.147
2.147
10^9 Counts
Encoder frequency
Encoder input pins
1M(1)
Counts/s
Note1: Encoder input requires Pulse capture to be disabled on inputs RC1, RC2, RC3 and RC4
Operating & Timing Specifications
TABLE 8.
Parameter
Measure Point
Min
Typ
Max
Units
Command Latency
Command to output change
0
2.5
5
ms
PWM Frequency
Motor outputs
10
18 (1)
20
kHz
Closed Loop update rate
Internal
RS232 baud rate
Rx & Tx pins
RS232 Watchdog timeout
Rx pin
200
Hz
115 200 (2)
1 (3)
Bits/s
65 000
ms
Note 1: May be adjusted with configuration program
Note 2: 115 200, 8-bit, no parity, 1 stop bit, no flow control
Note 3: May be disabled with value 0
SDC1130 Motor Controller Datasheet
9
Scripting
TABLE 9.
Parameter
Measure Point
Min
Typ
Max
Units
750
Lines
Scripting Flash Memory
Internal
2048
Max Basic Language programs
Internal
500
Integer Variables
Internal
64
Words (1)
Boolean Variables
Internal
1024
Symbols
Execution Speed
Internal
15 000
Bytes
30 000
Lines/s
Note 1: 32-bit words
Thermal Specifications
TABLE 10.
Parameter
Measure Point
Min
Board Temperature
PCB
Thermal Protection range
PCB
Thermal resistance
Power MOSFETs to heats sink
Typ
Max
Units
-40
85 (1)
oC
70
80 (2)
oC
2
oC/W
Note 1: Thermal protection will protect the controller power
Note 2: Max allowed power out starts lowering at minimum of range, down to 0 at max of range
The SDC1130 uses a conduction plate at the bottom of the board for heat extraction. For best results, attach firmly
with thermal compound paste against a metallic chassis so that heat transfers to the conduction plate to the chassis. If no metallic surface is available, mount the controller on spacers so that forced or natural air flow can go over
the plate surface to remove heat.
Mechanical Specifications
TABLE 11.
Measure Point
Weight
Board
Power Wire Gauge
Terminal strip
Min
Typ
Max
100 (3.5)
Units
g (oz.)
12
AWG
0.64"
16.26mm
0.16"
4.1mm
0.75"
19mm
Parameter
FIGURE 16. SDC1130 front view and dimensions
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SDC1130 Motor Controller Datasheet
Version 1.2. May 3, 2012
Electrical Specifications
0.519"
13.2mm
2.76"
70mm
2.45"
62.2mm
1.54"
39.1mm
1.18"
30mm
1.645"
41.78mm
2.76"
70mm
2.45"
62.2mm
FIGURE 17. SDC1130 top view and dimensions
SDC1130 Motor Controller Datasheet
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