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SDC2130/SDC2150 Motor Controller Datasheet 1

SDC2130/SDC2150

2x20A or 1x40A

Compact

High Performance

Dual Channel

Forward/Reverse

Brushed DC Motor

Controller with USB

Roboteq’s SDC2130 (30V) / SDC2150 (50V) controller is

designed to convert commands received from an RC radio,

Analog Joystick, wireless modem, PC (via RS232 or USB) or

microcomputer into high voltage and high current output for

driving one or two DC motors. Fitting a very compact 70x70mm

board, and designed for maximal ease-of-use, it is delivered

with all necessary cables and hardware, and is ready to use in

minutes.

The controller features a high-performance 32-bit microcom-

puter and quadrature encoder inputs to perform advanced

motion control algorithms in Open Loop or Close Loop (Speed

or Position) modes. The SDC2130/SDC2150 features several

Analog, Pulse and Digital I/Os which can be remapped as com-

mand or feedback inputs, limit switches, or many other func-

tions.

For mobile robot applications, the controller’s two motor chan-

nels can either be operated independently or mixed to set the

direction and rotation of a vehicle by coordinating the motion of

each motor. Numerous safety features are incorporated into the

controller to ensure reliable and safe operation. The controller's

operation can be extensively automated and customized using

Basic Language user programs. The controller can be repro-

grammed in the field with the latest features by downloading

new operating software from Roboteq.

Applications

• Industrial Automation

• Tracking, Pan & Tilt systems

• Small to mid-size Terrestrial and Underwater Robotic

Vehicles

• Automatic Guided Vehicles

• Automated machines

• Telepresence Systems

• Animatronics

Features List

• USB, RS232, 0-5V Analog, or Pulse (RC radio) command

modes

• Auto switch between USB, RS232 (12V levels or non-

inverted TTL levels), Analog, or Pulse based on user-

defined priority

• Input for direct connection to Spektrum digital RC radios

• Built-in high-power power drivers for two brushed DC

motors at up to 20A output per channel

• Available in single channel version up to 40A

• Full forward & reverse control on each channel. Four quad-

rant operation. Supports regeneration

• Operates from a single 10V-35V (SDC2130) or 10V-50V

(SDC2150) power source

• Programmable current limit for each channel up to 2x20A

or 1x40A for protecting controller, motors, wiring and bat-

tery

• Up to 4 Analog Inputs for use as command and/or feed-

back

• Up to 5 Pulse Length, Duty Cycle or Frequency Inputs for

use as command and/or feedback

• Up to 6 Digital Inputs for use as Deadman Switch, Limit

Switch, Emergency stop or user inputs

• Dual Quadrature Encoder inputs with 32-bit counters

• 2 general purpose 24V, 1A output for brake release or

accessories

• Selectable min, max, center and deadband in Pulse and

Analog modes

• Selectable exponentiation factors for each command

inputs

• Trigger action if Analog, Pulse or Encoder capture are out-

side user selectable range (soft limit switches)

• Open loop or closed loop speed control operation

Summary of content (10 pages)

PAGE 1
SDC2130/SDC2150 2x20A or 1x40A Compact High Performance Dual Channel Forward/Reverse Brushed DC Motor Controller with USB Roboteq’s SDC2130 (30V) / SDC2150 (50V) controller is designed to convert commands received from an RC radio, Analog Joystick, wireless modem, PC (via RS232 or USB) or microcomputer into high voltage and high current output for driving one or two DC motors.
PAGE 2
• Closed loop position control with analog or pulse/frequency feedback • 10 to 32kHz user programmable Pulse Width Modulation (PWM) output • Precise speed and position control when Encoder feedback is used • • Overvoltage and Undervoltage protection • • PID control loop with separate gains for each channel Optional Mixed control (sum and difference) for tank-like steering • Configurable Data Logging of operating parameters on RS232 Output for telemetry or analysis • • Built-in Battery Voltage a
PAGE 3
Power Wires Identifications and Connection Power Wires Identifications and Connection Power connections are made through a 6 position screw terminal. Battery and Motor Connections M1+ M1- VMot GND M2+ M2- P2 50V Jumper P4 P3 J2 GND PwrCtrl 8 P1 J1 1 15 USB Connector Spektrum Radio Connector 9 IO Connector FIGURE 8. Controller layout The diagram below shows how to wire the dual-channel controller and how to turn power On and Off.
PAGE 4
Important Warning Carefully follow the wiring Instructions provided in the Read Me First sheet that comes with the controller, or in the Power Connection section of the User Manual. The information on this datasheet is only a summary. Mandatory Connections It is imperative that the controller is connected as shown in the above diagram in order to ensure a safe and trouble-free operation. All connections shown as thick black lines line are mandatory.
PAGE 5
Sensor and Commands Connection Sensor and Commands Connection Connection to RC Radio, Microcomputer, Joystick and other low current sensors and actuators is done via the 15 connector located in front of the board. The functions of many pins vary depending on user configuration. Pin assignment is found in the table below. 8 15 1 9 FIGURE 11. Connector pin locations TABLE 4.
PAGE 6
RC Ch2 2 RC Ch1 RS232 Ground TxOut RxIn 1 8 1 Motor 1 Motor 2 15 9 Pot 1 Pot 2 FIGURE 12. Factory default pins assignment Status LED Flashing Patterns After the controller is powered on, the Power LED will tun on, indicating that the controller is On. The Status LED will be flashing at a 2 seconds interval. The flashing pattern provides operating or exception status information. Idle - Waiting for Command RS232/USB Mode RC Pulse Mode Analog Mode FIGURE 13.
PAGE 7
Electrical Specifications Electrical Specifications Absolute Maximum Values The values in the table below should never be exceeded. Permanent damage to the controller may result. TABLE 5.
PAGE 8
TABLE 6.
PAGE 9
Electrical Specifications TABLE 7. Parameter Measure point Min Typ Max Pulse Capture Resolution Pulse inputs Frequency Capture Pulse inputs 100 10000 Hz Encoder count Internal -2.147 2.147 10^9 Counts Encoder frequency Encoder input pins 30000 or 1M(1) Counts/s 1 Units us Note1: Dual Channel controller max at 30Kcps. Single channel version max at 1Mcps Operating & Timing Specifications TABLE 8.
PAGE 10
The SDC2130/SDC1250 uses a conduction plate at the bottom of the board for heat extraction. For best results, attach firmly with thermal compound paste against a metallic chassis so that heat transfers to the conduction plate to the chassis. If no metallic surface is available, mount the controller on spacers so that forced or natural air flow can go over the plate surface to remove heat. Mechanical Specifications TABLE 11.