Data Sheet

10 GBL2xxx Motor Controller Datasheet Version 1.2 July 10, 2018

TABLE 5.

Connector

Pin Power Dout Com Pulse Ana Dinput Enc

Default

Conﬁg

24 RC7 ANA7/

ASIN2

DIN7 ENC1A Unused

12 RC8 ANA8/

ACOS2

DIN8 ENC1B Unused

PwrCtrl

13 GND

Note 1: Analog command is disabled in factory default conﬁguration.

Default I/O Conﬁguration

While the controller can be conﬁgured so that practically any Digital, Analog and RC pin

can be used for any pur pose, the controller’s factory default conﬁguration provides an

assignment that is suitable for most applications. The ﬁgure below shows how to wire the

controller to two analog potentiometers, an RC radio, and the RS232 port. It also shows

how to connect two outputs to motor brake solenoids and another output to an external

status LED. You may omit any connection that is not required in your application. The con-

troller automatically arbitrates the command priorities depending on the presence 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 prior ity order.

FIGURE 10. Factory Default Pin Assignment

Enabling Analog Commands

For safety reasons, the Analog command mode is disabled by default. To enable the An-

alog 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. Use the PC utility to enable and assign analog inputs.