User Manual

Operating Modes Overview
Mode 1: Analog Input
Analog input mode takes one or two analog inputs and uses those to set the speed and direction
of the motor. The valid input range is 0v to 5v. This makes the Sabertooth easy to control using a
potentiometer, the PWM output of a microcontroller (with an RC filter) or an analog circuit.
Major uses include joystick or foot-pedal controlled vehicles, speed and direction control for
pumps and machines, and analog feedback loops.
Mode 2: R/C Input
R/C input mode takes two standard R/C channels and uses those to set the speed and direction of
the motor. There is an optional timeout setting. When timeout is enabled, the motor driver will
shut down on loss of signal. This is for safety and to prevent the robot from running away should
it encounter interference and should be used if a radio is being used to control the driver. If
timeout is disabled, the motor driver will continue to drive at the commanded speed until another
command is given. This makes the Sabertooth easy to interface to a Basic Stamp or other low-
speed microcontrollers.
Mode 3: Simplified serial
Simplified serial mode uses TTL level RS-232 serial data to set the speed and direction of the
motor. This is used to interface the Sabertooth to a PC or microcontroller. If using a PC, a level
converter such as a MAX232 chip or USB to TTL serial adapter must be used. The baud rate is
set via DIP switches. Commands are single-byte. There is also a Slave Select mode which allows
the use of multiple Sabertooth 2x60 from a single microcontroller serial port.
Mode 4: Packetized serial
Packetized serial mode uses TTL level RS-232 serial data to set the speed and direction of the
motor. There is a short packet format consisting of an address byte, a command byte, a data byte
and a 7 bit checksum. The baud rate set from the factory is 9600 baud. This rate can be changed
with the appropriate serial command. Address bytes are set via dip switches. Up to 8 Sabertooth
motor drivers may be ganged together on a single serial line. This makes packetized serial the
preferred method to interface multiple Sabertooths to a PC or laptop. Because Sabertooth uses
the same protocol as our SyRen single motor drivers, both can use used together from the same
serial master.