Datasheet

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SDC21xx Motor Controller Datasheet 1

SDC21xx

2x20A or 1x40A

High Performance

Dual Channel

Brushed DC Motor

Controller with USB

and CAN Interface

Fitting a very compact 70x70mm board, Roboteq’s SDC21xx

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 out-

put for driving one or two DC motors. A version with CAN bus

allows up to 127 controllers to communicate at up to 1Mbit/s

on a single twisted pair.

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 SDC21xx features several Analog,

Pulse and Digital I/Os which can be remapped as command or

feedback inputs, limit switches, or many other functions.

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

• Available in version with CAN bus up to 1Mbit/s

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

inverted TTL levels), CAN, 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

• Built-in programming language for automation and custom-

ization

• Operates from a single 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

Summary of content (12 pages)

PAGE 1
SDC21xx 2x20A or 1x40A High Performance Dual Channel Brushed DC Motor Controller with USB and CAN Interface Fitting a very compact 70x70mm board, Roboteq’s SDC21xx 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. A version with CAN bus allows up to 127 controllers to communicate at up to 1Mbit/s on a single twisted pair.
PAGE 2
• Trigger action if Analog, Pulse or Encoder capture are outside user selectable range (soft limit switches) • • Open loop or closed loop speed control operation Closed loop position control with analog or pulse/frequency feedback • Precise speed and position control when Encoder feedback is used • • 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 telemetr
PAGE 3
Power Wires Identifications and Connection Important Safety Disclaimer Dangerous uncontrolled motor runaway condition can occur for a number of reasons, including, but not limited to: command or feedback wiring failure, configuration error, faulty firmware, errors in user script or user program, or controller hardware failure. The user must assume that such failures can occur and must make his/her system safe in all conditions.
PAGE 4
The diagram below shows how to wire the dual-channel controller and how to turn power On and Off. F2 1A SW1 Main On/Off Switch 1A PwrCtrl Note 1 M1+ Ground Motor 1 Backup Battery M1Diode >10A Resistor 1K, 0.5W Note 3 M2+ Note 2 VMot F1 Note 4 Motor 2 SW2 Emergency Contactor or Cut-off Switch M2- Ground + I/O Connector Main Battery Note 5 Do not Connect! FIGURE 9. Powering the controller.
PAGE 5
Use of Safety Contactor for Critical Applications Use of Safety Contactor for Critical Applications An external safety contactor must be used in any application where damage to property or injury to person can occur because of uncontrolled motor operation resulting from failure in the controller’s power output stage. F2 1A SW1 Main On/Off Switch 1A PwrCtrl Ground Resistor 1K, 0.5W Diode >20A F1 VMot Digital Out to +40V Max I/O Connector + Ground Main Battery FIGURE 10.
PAGE 6
Controller Mounting During motor operation, the controller will generate heat that must be evacuated. The published amps rating can only be fully achieved if adequate cooling is provided. Mount the controller so that the bottom plate makes contact with a metallic surface (chassis, cabinet) to conduct the heat. 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.
PAGE 7
Enabling Analog Commands ence of a valid command signal in the following order: 1-RS232, 2-RC Pulse, 3-None. If needed, use the Roborun+ PC Utility to change the pin assignments and the command priority order. RC Ch2 2 RC Ch1 RS232 Ground TxOut RxIn 1 8 1 Motor Brake Safety Contactor 15 9 Pot 2 Pot 1 FIGURE 13. Factory default pins assignment Enabling Analog Commands For safety reasons, the Analog command mode is disabled by default.
PAGE 8
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 14. Normal Operation Flashing Patterns Short Detected Overheat Under or Over Voltage Power Stage Off FIGURE 15.
PAGE 9
Electrical Specifications TABLE 5. Parameter Measure point Models Analog and Digital Inputs Voltage Ground to any signal pin on 25 & 9-pin connectors RS232 I/O pins Voltage External voltage applied to Rx/Tx pins Board Temperature Board Humidity Board Min Typ Max Units All 15 Volts All 15 Volts 85 oC 100 (2) % -40 Note 1: Maximum regeneration voltage in normal operation.
PAGE 10
TABLE 6. Parameter Measure point Models Min Typ Max Units Note 1: Negative voltage will cause a large surge current. Protection fuse needed if battery polarity inversion is possible Note 2: Maximum regeneration voltage in normal operation. Never inject a DC voltage from a battery or other fixed source Note 3: Minimum voltage must be present on VMot or Power Control wire Note 4: Factory default value. Adjustable in 0.
PAGE 11
Electrical Specifications Operating & Timing Specifications TABLE 8. Parameter Measure Point Min Typ Max Units Command Latency Command to output change 1 0.
PAGE 12
Mechanical Specifications TABLE 11. Measure Point Weight Board Power Wire Gauge Terminal strip Min Typ Max Units 12 AWG 100 (3.5) g (oz.) 0.64" 16.26mm 0.16" 4.1mm 0.75" 19mm Parameter 2.76" 70mm 1.18" 30mm 1.54" 39.1mm 0.519" 13.2mm 2.45" 62.2mm 2.76" 70mm 1.645" 41.78mm 0.58" 14.73mm FIGURE 16. SDC21xx front view and dimensions 2.45" 62.2mm FIGURE 17. SDC21xx top view and dimensions 12 SDC21xx Motor Controller Datasheet Version 1.3.