Data Sheet

ManualsBrandsRoboteQ ManualsR/C DC ControllersRoboteQ MDC2460 2x 60A 60V Motor Controller

MDC22xx Motor Controller Datasheet 1

MDC22xx

2x60A

High Performance

Dual Channel

Forward/Reverse

Brushed DC Motor

Controller with USB, CAN

and Encoder Inputs

Roboteq’s MDC22xx controller is designed to convert com-

mands received from an RC radio, Analog Joystick, wireless

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

voltage and high current output for driving one or two DC

motors. Designed for maximal ease-of-use, it is delivered with

all necessary cables and hardware, and is ready to use in min-

utes. Using CAN bus, up to 127 controllers can be networked at

up to 1Mbit/s on a single twisted pair.

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 MDC22xx features several Analog,

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

feedback inputs, limit switches, or many other functions.

The controller’s two motor channels can either be operated

independently or mixed to set the direction and rotation of a

vehicle by coordinating the motion of each motor.

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

• Tracking, Pan & Tilt systems

• Terrestrial and Underwater Robotic Vehicles

• Automatic Guided Vehicles

• Police and Military Robots

• Flight simulators

• Telepresence Systems

• Animatronics

Features List

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

modes

• CAN bus interface up to 1Mbit/s

• Auto switch between USB, RS232, CAN, Analog, or Pulse

based on user-defined priority

• Built-in high-power power drivers for two brushed DC

motors at up to 60A output per channel

• Orderable as single channel version up to 120A

• Full forward & reverse control on each channel. Four quad-

rant operation. Supports regeneration

• Operates from a single power source

• Programmable current limit for each channel up to 2x60A

for protecting controller, motors, wiring and battery

• Built-in programming language for automation and custom-

ization

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

back

• Up to 5 Pulse Width, 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

• Dual Quadrature Encoder inputs with 32-bit counters

• 2 general purpose 40V, 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

Summary of content (12 pages)

PAGE 1
MDC22xx 2x60A High Performance Dual Channel Forward/Reverse Brushed DC Motor Controller with USB, CAN and Encoder Inputs Roboteq’s MDC22xx controller is designed to convert commands received from an RC radio, Analog Joystick, wireless modem, PC (via RS232 or USB) or microcomputer into high voltage and high current output for driving one or two DC motors. Designed for maximal ease-of-use, it is delivered with all necessary cables and hardware, and is ready to use in minutes.
PAGE 2
• Closed loop position control with analog or pulse/frequency feedback • Stall detection and selectable triggered action if Amps is outside user-selected range • Precise speed and position control when Encoder feedback is used Short circuit protection with selectable sensitivity levels • • PID control loop with separate gains for each channel • • • Optional Mixed control (sum and difference) for tank-like steering • Configurable Data Logging of operating parameters on RS232 Output for telemetry
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
Emergency Switch or Contactor The battery must be connected in permanence to the controller’s VMot power via an input emergency switch or contactor SW2 as additional safety measure. The user must be able to deactivate the switch or contactor at any time, independently of the controller state. 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.
PAGE 5
Single Channel Motor Wiring Single Channel Motor Wiring The single channel version of the controller (MDC2230S/MDC2250S/MDC2460S) requires that the output be parallel and that the load be wired as shown in the diagram below. M VMOT M1- M1+ GND M2- M2+ VMOT FIGURE 10. MDC2230S/MDC2250S/MDC2460S wiring diagram Important Warning This wiring is only possible on controllers fitted with the Single Channel version of the controller logic.
PAGE 6
Commands and I/O Connections Connection to RC Radio, Microcomputer, Joystick and other low current sensors and actuators is done via the 15 connector located in front of the board. The functions of many pins vary depending on user configuration. Pin assignment is found in the table below. 8 1 15 9 FIGURE 12. Connector pin locations TABLE 5.
PAGE 7
Enabling Analog Commands RC Ch2 2 RC Ch1 RS232 Ground TxOut RxIn 1 8 1 Motor Brake Safety Contactor 15 9 Pot 2 Pot 1 FIGURE 13. Factory default pins 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).
PAGE 8
Status LED Flashing Patterns After the controller is powered on, the Power LED will turn on, indicating that the controller is On. The Status LED will be flashing at a 2 seconds interval. The flashing pattern provides operating or exception status information. Idle - Waiting for Command RS232/USB Mode RC Pulse Mode Analog Mode FIGURE 14. Normal Operation Flashing Patterns Short Detected Overheat Under or Over Voltage Power Stage Off FIGURE 15.
PAGE 9
Electrical Specifications TABLE 6. 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 7.
PAGE 10
TABLE 7. Parameter Measure point Models 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.
PAGE 11
Electrical Specifications Operating & Timing Specifications TABLE 9. Parameter Measure Point Command Latency Command to output change PWM Frequency Ch1, Ch2 outputs Closed Loop update rate Internal USB Rate USB pins RS232 baud rate Rx & Tx pins RS232 Watchdog timeout Rx pin Min 10 Typ Max Units 0.
PAGE 12
Mechanical Specifications TABLE 12. Parameter Measure Point Min Typ Max Units Weight Board 250 (0.5) g (lbs) Power Connectors width Terminal tab 0.25 Inches 0.1" (2.5 mm) 0.25" 0.98" (25mm) (6.3 mm) 0.57" 0.7" (17.8mm) 0.3" (14.5mm) (7.6 mm) 0.16" (4.0mm) 0.325" (8.3 mm) FIGURE 16. MDC22xx side view and dimensions 5.50" (139.7mm) 5.25" (133.4mm) 0.120" (3.0mm) 0.15" (3.8mm) 0.120" (3.0mm) 0.40" (10.2mm) 0.3" (7.6mm) 2.32" (59.0mm) 2.0" (5.08mm) 4.20" (106.7mm) 0.3" (7.