User Manual

RoboClaw Series

Brushed DC Motor Controllers

RoboClaw Series User Manual

BASICMICRO

Hardware Overview

I/O

RoboClaw's I/O is setup to interface to both 5V and 3.3V logic. This is accomplished by internally

current limiting and clipping any voltages over 3.3V. RoboClaw outputs 3.3V which will work with

any 5V or 3.3V logic. This is also done to protect the I/O from damage.

Headers

RoboClaws share the same header and screw terminal pinouts across models in this user

manual. The main control I/O are arranged for easy connectivity to control devices such as

R/C controllers. The headers are also arranged to provide easy access to ground and power for

supplying power to external controllers. See the specic model of RoboClaw's data sheet for

pinout details.

Control Inputs

S1, S2, S3, S4 and S5 are setup for standard servo style headers I/O(except on ST models),

+5V and GND. S1 and S2 are the control inputs for serial, analog and RC modes. S3 can be used

as a ip switch input when in RC or Analog modes. Additionally, in all modes, S3, S4 and S5

can be used as emergency stop inputs or as voltage clamp control outputs. When set as E-Stop

inputs they are active when pulled low and have internal pullups so they will not accidentally trip

when left oating. S4 and S5 can also optionally be used as home signal inputs. The pins closest

to the board edge are the I/0s, center pin is the +5V and the inside pins are ground. Some RC

receivers have their own supply and will conict with the RoboClaw’s 5v logic supply. It may be

necessary to remove the +5V pin from the RC receivers cable in those cases.

Encoder Inputs

EN1 and EN2 are the inputs from the encoders on pin header versions of RoboClaw. 1B, 1A, 2B

and 2A are the encoders inputs on screw terminal versions of RoboClaw. Channel A of both EN1

and EN2 are located at the board edge on the pin header. Channel B pins are located near the

heatsink on the pin header. The A and B channels are labeled appropriately on screw terminal

versions.

When connecting the encoder make sure the leading channel for the direction of rotation is

connected to A. If one encoder is backwards to the other you will have one internal counter

counting up and the other counting down. Refer to the data sheet of the encoder you are using

for channel direction. Which encoder is used on which motor can be swapped via a software

setting.

Logic Battery (LB IN)

The logic side of RoboClaw can, optionally, be powered from a secondary battery wired to LB IN.

The positive (+) terminal is located at the board edge and ground (-) is the inside pin closest to

the heatsink. On older RoboClaws that have it, remove the LB-MB jumper if a secondary battery

for logic will be used.

BEC Source (LB-MB)

RoboClaw logic requires 5VDC which is provided from the on board BEC circuit. On older

model RoboClaws the BEC source input is set with the LB-MB jumper. Install a jumper on the

2 pins labeled LB-MB to use the main battery as the BEC power source. Remove this jumper

if using a separate logic battery. On models without this jumper the power source is selected

automatically.