Data Sheet

RoboClaw Solo Motor Controller Data Sheet
(c) 2016 Ion Motion Control. All Rights Reserved.
9
Wiring Safety
Inallsystemwithmovement,safetyisaconcern.Thewiringdiagrambelowillustratesaproperlywiredsystemfor
safety.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.Apre-chargeresistor(R1)shouldbe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
19.6millionQPPS),absoluteencoders,potentiometersandhalleffect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
M1A
M1B
M2B
M2A
B-
B+
+
-
Battery
S1
S2
+5V
GROUND
ROBOCLAW
Motor 1
UARTTX
UARTRX
5VDC
GROUND
MCU
R1
F1
D1