Data Sheet

ManualsBrandsRoboteQ Manuals30A+ DC ControllersRoboteQ MDC1460 1x60A 7-60V Robot Controller

MDC1xxx Motor Controller Datasheet 1

MDC1230/MDC1460

1x80A and 1x120A

Single Channel

Brushed DC Motor

Controller with

Encoder Input,

USB and CAN

Roboteq’s MDC1230 and MDC1460 controllers are designed to

convert commands received from an RC radio, Analog Joystick,

wireless modem, PC (via RS232) or microcomputer into high

voltage and high current output for driving one DC motor. Using

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

twisted pair. Numerous safety features are incorporated into

the controller to ensure reliable and safe operation.

The controller features a high-performance 32-bit microcom-

puter and quadrature encoder inputs to perform advanced

motion control algorithms in Open Loop or Close Loop (Speed

or Position) modes. The MDC1xxx features several Analog,

Pulse and Digital I/Os which can be remapped as command or

feedback inputs, limit switches, or many other functions.

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 reprogrammed in the field

with the latest features by downloading new operating soft-

ware from Roboteq.

Applications

• Industrial Automation

• Fan & Pump control

• Winch & Cranes

• Personal transportation

• Automatic Guided Vehicles

• Terrestrial and Underwater Robotic Vehicles

• Automated machines

• Telepresence Systems

• Animatronics

Features List

• 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 high-power power drivers for one DC motor at up

to 80A (MDC1230) and 120A (MDC1460)

• Full forward & reverse control. Four quadrant operation.

Supports regeneration

• Operates from a single power source

• Built-in programming language for automation and custom-

ization

• Programmable current limit up to 80A (MDC1230) or 120A

(MDC1460) for protecting controller, motors, wiring and

battery

• Up to 6 Analog Inputs for use as command and/or feed-

back

• Up to 6 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

• Quadrature Encoder input with 32-bit counter

• 2 general purpose 24V, 1A 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 capture are out-

side user selectable range (soft limit switches)

• Open loop or closed loop speed control operation

• Closed loop position control with analog or pulse/fre-

quency feedback

Summary of content (11 pages)

PAGE 1
MDC1230/MDC1460 1x80A and 1x120A Single Channel Brushed DC Motor Controller with Encoder Input, USB and CAN Roboteq’s MDC1230 and MDC1460 controllers are designed to convert commands received from an RC radio, Analog Joystick, wireless modem, PC (via RS232) or microcomputer into high voltage and high current output for driving one DC motor. Using CAN bus, up to 127 controllers can be networked on a single twisted pair.
PAGE 2
• Precise speed and position control when Encoder feedback is used • Open frame or enclosed design with heat conducting bottom plate • • PID control loop 5.50” (140mm) L, 4.45” W (113mm), 0.
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
The diagram below shows how to wire the controller and how to turn power On and Off. F2 1A SW1 Main On/Off Switch 1A PwrCtrl Note 1 Ground Backup Battery M+ M+ Diode >20A Resistor 1K, 0.5W Note 3 VMot VMot F1 Note 4 + Motor Note 2 MM- 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 to +40V Max Digital Out I/O Connector + Ground Main Battery FIGURE 4.
PAGE 6
TABLE 2.
PAGE 7
Enabling Analog Commands CAN Bus Operation The controller can interface to a standard CAN Bus network, using 4 possible protocols: A simple and powerful meshed network (RoboCAN), 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.
PAGE 8
TABLE 3. Parameter Measure point Model Min Typ Max Units 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 9
Electrical Specifications Beware that regenerative braking can create high voltage at the controller's power inputs. Use the controller only with batteries. See user manual for special precautions when using a power supply. Command, I/O and Sensor Signals Specifications TABLE 5. Parameter Measure point Min Typ Max Units Main 5V Output Voltage Ground to 5V pin on DSub15 4.7 4.9 5.
PAGE 10
Scripting TABLE 7. Parameter Measure Point Min Typ Max Units Scripting Flash Memory Internal 8196 Bytes Max Basic Language programs Internal 1000 Lines Integer Variables Internal 1024 Words (1) Boolean Variables Internal 1024 Symbols Execution Speed Internal 50000 Lines/s Note 1: 32-bit words Thermal Specifications TABLE 8.
PAGE 11
Electrical Specifications 4.45" (133.4mm) 4.20" (106.7mm) 0.20" (5.0mm) 0.120" (3.0mm) VMOT 0.120" (3.0mm) M+ M+ 2.0" (5.08mm) 5.10" (129.7mm) 5.50" (139 .7mm) VMOT MMPwr Ctrl 1.09" (3.8mm) GND GND 0.19" (5.0mm) FIGURE 8.