Data Sheet

Safe Torque Off - STO (Certification Pending)
KBL1xxx Motor Controller Datasheet 9
Additional status information may be obtained by monitoring the controller with the PC utility.
The communication LED gives status information on the CAN and USB.
Always off: No USB, No CAN
Always On: USB Active, No CAN
Flashing On: No USB, CAN Enabled
Flashing Off: USB Active, CAN Enabled
FIGURE 10. Communication LED Flashing Patterns
Measured and Calculated Amps
The controller includes Amps sensors in line with the motor terminals and on the battery ground terminals.
Both Motor Amps and Battery Amps are therefore measured with precision.
When motor is rotating, amps are AC. The KBL1XXX measures and is rated based on RMS Amps. The table be-
low shows the relation between the RMS current and the DC Equivalent in Sinusoidal and Trapezoidal modes.
In sinusoidal mode, DC equivalent are the amps resultant from the torque (Iq) and quadrature (Id) vectors. In
trapezoidal mode, they are the DC amps that flow through the two coils that are active at any one time.
Amps RMS DC Equivalent
Sinusoidal 120A 170A (Irms * 1.414)
Trapezoidal 120A 147A (Irms * 1.225)
Safe Torque Off - STO (Certification Pending)
Safe Torque Off is a secure method for stopping the motor, regardless whether the controller is operating nor-
mally or is faulty. STO is Hardware-based, meaning that the MCU does not need to be processing the inputs or
drive the motor outputs. When STO is enabled, two digital inputs, DIN5 and DIN6 are remapped as STO1 and
STO2. Both inputs must have a 5V to 30V signal present at the same time in order for the Power MOSFETs to
be energized. The controller will perform a self-check of the STO circuit at every power on. Once it is verified
to work, the controller will safely turn the motors off if either input is below the 5V threshold, even in the case
where any one component inside the controller is damaged. The STO circuit is verified an validated by TUV (cer-
tification pending) and can therefore be trusted in lieu of external relays.
By factory default STO is disabled. It must be enabled by removing the jumper located near the power terminals.
ST
O Enabled
ST
O Disabled
Figure 11. STO Enable jumper