User Manual
RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
13
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
RoboClaw's share the same header and screw terminal pinouts accross 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 specic 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. In serial mode 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 conict 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 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. 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. 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.