Data Sheet

ManualsBrandsRoboteQ ManualsBrushless DC Motor ControllersRoboteQ FDC3260 3x40A 7-60V Robot Controller

FDC3260 Motor Controller Datasheet 1

FDC3260

Advanced Features

Triple Channel 60A

Brushed DC

Motor Controller

with USB and CAN

Roboteq’s FDC3260 is a features-packed, high-current, triple

channel controller for brushed DC motors. The controller fea-

tures a high-performance 32-bit microcomputer and quadrature

encoder inputs to perform advanced motion control algorithms.

The motors may be operated in open or closed loop speed

mode, position mode or in torque mode.

The FDC3260 features several Analog, Pulse and Digital I/Os

which can be remapped as command or feedback inputs, limit

switches, or many other functions. The FDC3260 accepts com-

mands received from an RC radio, Analog Joystick, wireless

modem, PLC, or microcomputer. For mobile robot applications,

two of the controller’s three motor channels can either be oper-

ated independently or mixed to move and steer a vehicle. Using

CAN bus, up to 127 controllers can be networked at up to

1Mbit/s on a single twisted pair.

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 Lan-

guage scripts. The controller can be configured, monitored and

tuned in realtime using a Roboteq’s free PC utility. The control-

ler can also be reprogrammed in the field with the latest fea-

tures by downloading new operating software from Roboteq.

Applications

• Motion simulators

• XYZ platforms

• Underwater Robotic Vehicles

• Stabilization Gimbals

• Machine tools

• Industrial automation

• Telepresence Systems

• Animatronics

Key Features

• USB, RS323, RS485, 0-5V Analog, or Pulse (RC radio) com-

mand modes

• CAN bus interface up to 1Mbit/s with multiple protocol

support

• Auto switch between Serial, USB, CAN, Analog, or Pulse

based on user-defined priority

• Built-in dual 3-phase high-power drivers for three brushed

DC motor at up to 60A each

• Full forward & reverse motor control. Four quadrant opera-

tion. Supports regeneration

• Operates from a single 10V-60V power source

• Programmable current limit up to 60A per motor for pro-

tecting controller, motor, wiring and battery

• Dedicated connector for 3 quadrature encoders

• Up to 8 Analog Inputs for use as command and/or feed-

back

• Up to 8 Pulse Length, Duty Cycle or Frequency Inputs for

use as command and/or feedback

• Up to 10 Digital Inputs for use as Deadman Switch, Limit

Switch, Emergency stop or user inputs

• 4 general purpose 24V, 1.5A 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 counter capture

are outside user selectable range (soft limit switches)

• Open loop or closed loop speed control operation

• Closed loop position control with encoder, analog or pulse/

frequency feedback

• Torque mode

Summary of content (12 pages)

PAGE 1
FDC3260 Advanced Features Triple Channel 60A Brushed DC Motor Controller with USB and CAN Roboteq’s FDC3260 is a features-packed, high-current, triple channel controller for brushed DC motors. The controller features a high-performance 32-bit microcomputer and quadrature encoder inputs to perform advanced motion control algorithms. The motors may be operated in open or closed loop speed mode, position mode or in torque mode.
PAGE 2
• • • PID control loop Built-in Battery Voltage and Temperature sensors Optional backup power input for powering safely the controller if the main motor batteries are discharged • Power Control wire for turning On or Off the controller from external microcomputer or switch • • No consumption by output stage when motors stopped Separate Programmable acceleration and deceleration for each motor • • Ultra-efficient 2.
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
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 M2M3+ Ground + Motor 3 I/O Connector Main Battery M3- Note 5 Do not Connect! FIGURE 3. Powering the controller. Thick lines identify MANDATORY connections Important Warning Carefully follow the wiring instructions provided in the Power Connection section of the User Manual.
PAGE 5
Use of Safety Contactor for Critical Applications Note 5: Connect the controller’s bottom plate to a wire connected to the Earth while the charger is plugged in the AC main, or if the controller is powered by an AC power supply. Note 6: Beware not to create a path from the ground pins on the I/O connector and the battery minus terminal.
PAGE 6
Encoder Connection Connection to the Encoders is done using a special connector on the front side of the controller. The connector is a 10-pin Molex Microfit 3.0, ref. 43025-1000. Pin assignment is in the table below. Row Ch1 Row Ch2 Row Ch1 5 Row Ch2 5 1 1 FIGURE 5. Encoder connector TABLE 1.
PAGE 7
Commands and I/O Connections TABLE 2. Connector Pin Power Dout 7 Com Pulse Ana DOUT4 20 8 CANH Unused CANL Unused RC5 ANA5 9 22 RC6 ANA6 10 23 11 Default Config Unused 21 DIN5 Unused DIN9 Unused DIN6 Unused DIN10 Unused RS485A RS485 RS485B RS485 24 12 25 Dinput RC7 ANA7 DIN7 Unused RC8 ANA8 DIN8 Unused 5VOut 13 GND Note 1: Analog command is disabled in factory default configuration.
PAGE 8
Enabling Analog Commands For safety reasons, the Analog command mode is disabled by default. To enable the Analog mode, use the PC utility and set Analog in Command Priority 2 or 3 (leave Serial as priority 1). Note that by default the additional securities are enabled and will prevent the motor from starting unless the potentiometer is centered, or if the voltage is below 0.25V or above 4.75V. The drawing shows suggested assignment of Pot 1 to ANA1 and Pot 2 to ANA4.
PAGE 9
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 3.
PAGE 10
TABLE 4. Continuous Max Current per channel Motor Acceleration/ Deceleration range Measure point Min Typ Max Units Motor Output 100 500 (11) 65000 milliseconds 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.
PAGE 11
Electrical Specifications Operating & Timing Specifications TABLE 6. Parameter Measure Point Min Typ Max Units Command Latency Command to output change 1 0.5 1 ms PWM Frequency Motor Output 10 18 20 kHz Closed Loop update rate Internal RS232 baud rate Rx & Tx pins RS232 Watchdog timeout Rx pin 1000 Hz 115200 (1) 1 (2) Bits/s 65000 ms Note 1: 115200, 8-bit, no parity, 1 stop bit, no flow control Note 2: May be disabled with value 0 Scripting TABLE 7.
PAGE 12
0.25" 0.98" (25mm) (6.3 mm) 0.57" 0.7" (17.8mm) 0.3" (14.5mm) (7.6 mm) 0.16" (4.0mm) 0.325" (8.3 mm) FIGURE 10. FDC3260 side view and dimensions 5.50" (139.7mm) 5.00" (127.0mm) 5.50" (139 .7mm) 0.24" (6.0mm) 1.25" (31.8mm) 3.00" (76.2mm) FIGURE 11. FDC3260 top view and dimensions 12 FDC3260 Motor Controller Datasheet Version 1.0.