User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
13
1.1 Hardware Overview
1.1.1 Control Inputs
All digital input are 15V tolerant. The MCP outputs can interface to both 5V and 3.3V logic with
no voltage translation required. The MCP inputs are internally current limited and voltage cliped
to 3.3V. This method also protects the MCP I/O from damage.
The digital output pins can drive up to 3Amps at 40VDC. The CAN interface and RS232 pins
are duplexed. When a duplex function is used the other is set to a high Z state. R/C pulse
input, Analog, TTL and PWM can be generated from any microcontroller such as a Arduino or
Raspberry Pi. The R/C Pulse in pins can be driven by any standard R/C radio receiver. There are
several user congurable options depending on the device used to control the MCP. Ion Studio is
required to congure the MCP from the USB port.
1.1.2 Encoder Inputs
The MCP provides inputs for dual encoders and +5VDC for powering attached encoders. When
connecting the encoder ensure the leading channel of the encoder is connect to Channel A on
the motor controller. Channel A is congured to increment the internal counters. Refer to the
data sheet of the encoder you are using for channel direction. The encoders can be swapped and
paired to either motor channel from Ion Studio.
1.1.3 Main Battery Screw Terminals
The main power input can be from 10VDC to 80VDC depending on the MCP model. The main
battery connections are marked + and - near the main screw terminal. The plus (+) symbol
marks the positive terminal and the negative (-) marks the negative terminal. The main battery
wires should be as short as possible.
Do not reverse main battery wires. Roboclaw will be permanently damaged.
1.1.4 Main Battery Disconnect
The main battery should have a quick disconnect in case of a run away situation. The switch
must be rated to handle the maximum current and voltage from the main battery. This will vary
depending on the type of motors and or power source you are using. A typically solution would
be an inexpensive contactor which can be sourced from sites like Ebay. A power diode rated for
the maximum current the battery will deliver should be placed across the switch/contactor to
provide a path back to the battery when disconnected while the motors are spinning. The diode
will provide a path back to the battery for regenerative power even if the switch is opened.
1.1.5 Motor Screw Terminals
The motor screw terminals are marked with M1A / M1B for channel 1 and M2A / M2B for channel
2. For both motors to turn in the same direction the wiring of one motor should be reversed from
the other in a typical differential drive robot. The motor and battery wires should be as short
as possible. Long wires can increase the inductance and therefore increase potentially harmful
voltage spikes.
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