User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
34
1.5.2 Wiring Safety
In all system with movement, safety is a concern. The wiring diagram below illustrates a properly
wired system with several safety features. An external main power cut off is required for safety.
When the RoboClaw is switched off or the fuse is blown, a high current diode (D1) is required
to create a return path to the battery for any regenerative voltages. The use of a pre-charge
resistor (R1) is required to avoid high inrush currents and arcing when using high voltages. A
pre-charge resistor (R1) could be 220ohm, 1/2Watt for a MCP266 60VDC motor controller with a
pre-charge time of about 200 milliseconds and an in-rush current of less than 1 amp.
1.5.3 Wiring Closed Loop Mode
A wide range of inputs are supported including quadrature encoders, pulse width encoders,
analog absolute encoders and hall effect sensors for closed loop operation. See the Encoder
section of this manual for additional information.
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+
+
-
RX0
TX0
+5V
GROUND
MCP
Motor 1
Motor 2
UART TX
UART RX
5VDC
GROUND
MCU
R1
F1
D1
Main
DC Power