Data Sheet

ManualsBrandsRoboteQ ManualsBrushless DC Motor ControllersMBL1660N 60V 1x120A Brushless DC Motor Controller

MBL1xxx Motor Controller Datasheet 1

MBL1xxx

120A

Forward/Reverse

Brushless DC Motor

Controller with

Hall and Encoder

Inputs, USB and CAN

Roboteq’s MBL1xxx is a high-current controller for hall-sensor

and/or Encoder equipped Brushless DC motors. The controller

uses the position information from the sensors to sequence

power on the motor’s 3 windings in order to generate smooth

continuous rotation. The controller also uses the Hall sensor or

encoder input information to compute speed and measure trav-

elled distance inside a 32-bit counter. The motor may be oper-

ated in open or closed loop speed mode.

The MBL1xxx accepts commands received from an RC radio,

Analog Joystick, wireless modem, or microcomputer. Using

CAN bus, up to 127 controllers can be networked on a single

twisted pair cable. 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 scripts. The controller can be

configured, monitored and tuned in realtime using a Roboteq’s

free PC utility. The controller can also be reprogrammed in the

field with the latest features by downloading new operating

software from Roboteq.

Applications

• Small Electric Vehicles, Electric Bikes

• Electric Boats

• Terrestrial and Underwater Robotic Vehicles

• Automatic Guided Vehicles

• Police and Military Robots

• Hazardous Material Handling Robots

• Telepresence Systems

• Animatronics

• Industrial Controls

• Hydraulic Pumps control

Key Features

• RS232, 0-5V Analog, or Pulse (RC radio) command modes

• Auto switch between RS232, Analog, or Pulse based on

user-defined priority

• CAN bus interface at up to 1Mbit/s

• Built-in 3-phase high-power drivers for one brushless DC

motor at up to 120A (MBL16xx) or 75A (MBL13xx)

• Trapezoidal switching based on Hall Sensor position infor-

mation

• Smooth and quiet 3 Phase sinusoidal switching using

encoder feedback

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

tion. Supports regeneration

• Operates from a single power source

• Programmable current limit up to 120A (75A) for protecting

controller, motor, wiring and battery.

• Connector for Hall Sensors

• Accurate speed and Odometry measurement using Hall

Sensor or encoder data

• Quadrature encoder input with 32-bit counter

• Up to 4 Analog Inputs for use as command and/or feed-

back

• Up to 4 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

• Two general purpose 40V, 1.5A output for brake release or

accessories

• Custom scripting in Basic language. Execution speed

50000 lines per second

• Selectable min, max, center and deadband in Pulse and

Analog modes

Summary of content (12 pages)

PAGE 1
MBL1xxx 120A Forward/Reverse Brushless DC Motor Controller with Hall and Encoder Inputs, USB and CAN Roboteq’s MBL1xxx is a high-current controller for hall-sensor and/or Encoder equipped Brushless DC motors. The controller uses the position information from the sensors to sequence power on the motor’s 3 windings in order to generate smooth continuous rotation. The controller also uses the Hall sensor or encoder input information to compute speed and measure travelled distance inside a 32-bit counter.
PAGE 2
• Selectable exponentiation factors for each command inputs • Ultra-efficient 1.5 mOhm (MBL16xx) or 3.
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 U U Ground Motor Backup Battery V Diode >20A Resistor 1K, 0.5W Note 3 W Note 2 Note 4 Hall Sensors Hall sensor Connector VMot VMot F1 + W V HA/HB/HC GND/+5V SW2 Emergency Contactor or Cut-off Switch Ground Ground - I/O Connector Main Battery Note 5 Do not Connect! FIGURE 3. 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 4.
PAGE 6
Hall Sensor vs Motor Output sequencing The controller requires the Hall sensors inside the motor to be 120 degrees apart. The controller’s 3-phase bridge will activate each of the motor winding according to the sequence shown in the figure below. 1 2 3 4 5 6 1 2 3 4 5 6 Hall A U Hall B 3 1 Hall C U 4 + V + - W 6 + - - + - + - + + + - - + + - - + 5 W - V 2 + FIGURE 6.
PAGE 7
Enabling Analog Commands TABLE 2. Connector Pin Power Dout Com RC 15 8 RC2 Ana Dinput ANA6 DIN6 ANA2 DIN2 Enc Default Config Unused ENCB (2) Unused Note 1: Pin assignment for this signal may differ from other Roboteq controller models. Note 2: Encoder input requires RC inputs 1 and 2 to be disabled. Encoder is disabled in factory default. Note 3: Analog command is disabled in factory default configuration. Note 4: CAN can USB cannot operate simultaneously.
PAGE 8
USB communication Use USB only for configuration, monitoring and troubleshooting. USB is not a reliable communication method when used in a electrically noisy environments and communication will not always recover after it is lost without unplugging and replugging the connector, or restarting the controller. Always prefer RS232 communication when interfacing to a computer. Status LED Flashing Patterns After the controller is powered on, the Power LED will tun on, indicating that the controller is On.
PAGE 9
Electrical Specifications TABLE 3. Parameter Measure point Humidity Case Model Min Typ Max Units 100 (2) % Note 1: Maximum regeneration voltage in normal operation. Never inject a DC voltage from a battery or other fixed source Note 2: Non-condensing Power Stage Electrical Specifications (at 25oC ambient) TABLE 4.
PAGE 10
TABLE 4. Parameter Measure point Model 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 6. Parameter Measure Point Min Typ Max Units Command Latency Command to output change 0 0.
PAGE 12
0.98" 0.25" (25mm) (6.3 mm) 0.3" (7.6 mm) 0.16" (4.0mm) 0.325" (8.3 mm) FIGURE 11. MBL1xxx side view and dimensions 4.45" (133.4mm) 0.20" (5.0mm) VMOT 0.3" (7.6mm) VMOT 0.3" (7.6mm) U 5.10" (129.7mm) 5.50" (139 .7mm) Pwr Ctrl 0.4" (10.1mm) 0.55" (14.0mm) V 0.55" (14.0mm) W 0.7" (17.8mm) GND GND 0.3" (7.6mm) 0.19" (5.0mm) FIGURE 12. MBL1xxx top view and dimensions 12 MBL1xxx Motor Controller Datasheet Version 1.2.