Data Sheet

RoboClaw 2x60A Dual Channel Motor Controller Data Sheet
(c) 2020 Basicmicro. All Rights Reserved.
Wiring Safety
In all system with movement, safety is a concern. This concern is amplied when dealing with higher voltages. The wiring
diagram below illustrates a properly wired system. An external main power cut o is required (SW1). The external cut o
can consist of a high amperage mechanical switch or a contactor.
When the RoboClaw is switched o or a fuse is blown, a high current diode (D1) is required to create a return path to the
battery for potential regenerative voltages. In addition a pre-charge resistor (R1) is required to reduce the high inrush
currents to charge the on board capacitors. A pre-charge resistor (R1) should be around 1K, 1/2Watt for a 60VDC motor
controller which will give a pre-charge time of about 15 seconds. A lower resistances can be used with lower voltages to
decrease the pre-charge time.
Closed Loop Mode
A wide range of sensors are supported for closed loop operation. RoboClaw supports dual quadrature encoders (up to
9.8 million PPS), absolute encoders, potentiometers and hall eect sensors. The wiring diagram below is an example
of closed loop mode using quadrature encoders. Quadrature encoders are directional. RoboClaw’s internal counters will
increment for clockwise rotation (CW) and decrement for counter clockwise rotation (CCW). When wiring encoders A and
B channels it is important they are wired to match the direction of the motor. If the encoder is wired in reverse it can
cause a run away condition. All motor and encoder combinations will need to be tuned (see the RoboClaw user manual).
Encoder 1
A
B
GND
+5V
EN1 A
EN1 B
5VDC
GROUND
Encoder 2
A
B
GND
+5V
EN2 A
EN2 B
5VDC
GROUND
M1A
M1B
M2B
M2A
B-
B+
+
-
Battery
RX0
TX0
+5V
GROUND
ROBOCLAW
Motor 1
Motor 2
UART TX
UART RX
5VDC
GROUND
MCU
R1
F1
D1
SW1