Data Sheet

MBL1xxx Motor Controller Datasheet 7

Enabling Analog Commands

Default I/O Configuration

The controller can be configured so that practically any Digital, Analog and RC pin can be used for any purpose.

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 an analog potentiometer, an RC radio, the RS232 port, and the

Digital output to a motor brake solenoid. You may omit any connection that is not required in your application. The

controller 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 priority order.

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. Use the PC

utility to enable and assign analog inputs.

CAN Bus Operation

The controller can interface to a standard CAN Bus network, using 3 possible protocols: Standard CANOpen, and

two simplified proprietary schemes (MiniCAN and RawCAN). Please refer to the User Manual for details. USB and

CAN cannot operate at the same time. The controller starts up with CAN available, but CAN will be disabled as

soon as the controller is plugged into USB. To re-enable CAN, disconnect USB and restart the controller.

15 ANA6 DIN6 Unused

8 RC2 ANA2 DIN2 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.

TABLE 2.

Connector

Pin Power Dout Com RC Ana Dinput Enc Default Config

915

Pot

RS232

Brake Release

Safety Contactor

Ground

TxOut

RxIn

RC Ch1

FIGURE 8. Factory default pins assignment