User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
45
BASICMICRO
Inputs
S3, S4 and S5 Setup
RoboClaw S3, S4 and S5 inputs support the use of home switches, limit switches, Voltage
Clamping and E-Stops. A limit switch is used to detect the travel limits. Travel limits are typically
used on a linear slide to detect when the assembly has reached the end of travel. A home switch
is used to create a known start position. In some situations both may be required.
Open Motion Studio and select the S3, S4 or S5 options drop down. There are several options
to choose from. Each option is explained below. After setting S3, S4 and S5 options save the
settings before exiting Motion Studio.
Option Description
Disable Disables S4 and S5. Set by default.
E-Stop(Latching) All stop until RoboClaw is reset.
E-Stop All stop until switch released.
Voltage Clamp Used to control a voltage clamp circuit. Dumps the regenerative voltages. For use with
power supplies.
Motor Home(Auto) After starting up the motor will move backwards until the timeout is reached or the switch
is triggered. If during startup the switch is already triggered the motor will move forwards
for 3 seconds. During normal operation if the switch is triggered the motor will stop and the
encoder is zeroed/
Motor Home(User) User controls direction of motor to reach switch.
Limit(Forward) Motor moves forward rotation until switch tripped.
Limit(Reverse) Motor moves in reverse rotation until switch tripped.
RS-485 Direction
Output (S3 only)
Outputs a read/write signal for RS-485 adapters.
Encoder Enable/Disable
(S3 only)
Toggles encoder support in RC and analog mode. Allows the user to disable/enable encoders
as needed.
Motor Home(Auto)/
Limit(Fwd)
Used when two limit switches are connected to the same input. Same powerup behavior as
Motor Home (Auto). Once the home switch is triggered the motor will only be able to move
forward until the switch is released. When moving forward the other limit switch stops the
motor and the motor will only be able to move backwards until the switch is released.
Motor Home(User)/
Limit(Fwd)
Used when two limit switches are connected to the same input. When the switch is triggered
moving backwards the motor stops and the encoder is zeroed. The motor will only move
forward until the switch is released. When moving forward the other switch stops the motor.
The motor can only move backwards until the switch is released.
Motor Limit(Both) Used when two limit switches are connected to the same input. When moving backwards the
motor will be stopped and only allow forwards movement until the switch is released. The
opposite eect occurs with the other switch when moving forward.
CTRL1/CTRL2 (some
models)
Output can be set by user command.
Brake Activates when motor stops. Releases when motor starts.