Data Sheet

ManualsBrandsRoboteQ ManualsSerial DC ControllersRoboteQ GDC3660E 60V 3x180A Brushed DC Motor Controller (w/ Ethernet)

GDC3xxx Motor Controller Datasheet 1

GDC3xxx

Roboteq's GDC3660 is a feature-packed, very 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.

The GDC3660 features several Analog, Pulse and Digital I/ Os

which can be remapped as command or feedback inputs, limit

switches, or many other functions. The GDC3660 accepts

commands 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 operated 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 real-time 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)

command 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

operation. Supports regeneration

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

• Programmable current limit up to 180A per motor for

protecting controller, motor, wiring and battery

• Dedicated connector for three quadrature encoders

• Up to eight Analog Inputs for use as command and/or

feedback

• Up to eight 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

• Four 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

High Power 3 x 180A

Brushed DC Motor

Controller with USB,

CAN and Ethernet

Summary of content (14 pages)

PAGE 1
GDC3xxx High Power 3 x 180A Brushed DC Motor Controller with USB, CAN and Ethernet Roboteq's GDC3660 is a feature-packed, very 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
• • • • • • • • • • • • Torque mode 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 Regulated 5V output for powering RC radio, RF Modem, sensors or microcomputer Separate Programmable acceleration and deceleration for each motor Ultra-efficie
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
Controller Power F2 1A SW1 M ain On/Off Sw itch 1A PwrCtrl Note 1 U1 Backup Battery V1 Diode >20A a Resistor 1K, 0.5W Note 3 Note 2 F1 Note 4 + Motor1 Ground W1 Enc 3 Motor 3 VMot SW2 Emergency Contactor or Cut-off Switch - W2 a U2 Ground I/O Connector M ain Battery Enc 1 V2 Note 6 Do not Connect! Enc 2 Motor 2 Note 5 FIGURE 2. Powering the Controller.
PAGE 5
Use of Safety Contactor for Critical Applications Precautions and Optional Connections Note 1: Backup battery to ensure motor operation with weak or discharged batteries, connect a second battery to the Power Control wire/terminal via the SW1 switch. Note 2: Use precharge 1K, 0.5W Resistor to prevent switch arcing. Note 3: Insert a high-current diode to ensure a return path to the battery during regeneration in case the fuse is blown.
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. Good conduction cooling can be achieved by having the bottom surface of the case making contact with a metallic surface (chassis, cabinet). Encoder Connection Connection to the Encoders is done using a special connector on the front side of the controller. The Encoder connector is a 6-pin Molex Microfit 3.0, ref. 43645.
PAGE 7
Commands and I/O Connections TABLE 2.
PAGE 8
FIGURE 6. Factory Default Pin Assignment 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.
PAGE 9
Status LED Flashing Patterns Ethernet Communication Ethernet communication is only available on the E versions of the controller. The connection port is located on the top of the unit for easy and rapid access. Communication occurs via TCP/IP. Commands can be in Serial over TCP and Modbus TCP. Serial over TCP is the preferred method to access all native commands. Two LEDs are present on the Ethernet jack, as shown in Figure 7.
PAGE 10
Battery Backed Clock and Variables The controller includes a real-time clock/calendar and RAM storage for user variables. Both the clock and the RAM storage require a battery to continue running and for the stored data not to be lost while the controller is powered down. The battery is not installed by Roboteq. Users who wish to use the clock and/or battery backed RAM variables must install a battery themselves. The battery socket can be reached by removing the 6 screws that are holding the cover.
PAGE 11
Electrical Specifications Power Stage Electrical Specifications (at 25ºC ambient) TABLE 4.
PAGE 12
Command, I/O and Sensor Signals Specifications TABLE 5. Parameter Measure point Min Typ Max Units Main 5V Output Voltage Ground to 5V pins on 4.6 4.75 4.9 Volts 5V Output Current 5V pins on RJ45 and DSub15 200 (1) mA Digital Output Voltage Ground to Output pins 60 Volts Output On resistance Output pin to ground 0.5 Ohm Output Short circuit threshold Output pin 3.5 Amps Digital Output Current Output pins, sink current 1.
PAGE 13
Electrical Specifications Thermal Specifications TABLE 8. Parameter Measure Point Min Case Temperature Case Thermal Protection range Case Power Dissipation Case Thermal resistance Humidity Typical Max Units -40 85 (1) ºC 80 90 (2) ºC 70 Watts Power MOSFETs to case 0.6 ºC/W Case 100(3) % Note 1: Thermal protection will protect the controller power Note 2: Max allowed power out starts lowering at minimum of range, down to 0 at max of range Mechanical Specifications TABLE 9.
PAGE 14
GDC3xxx Motor Controller Datasheet Version 1.