Data Sheet

8 SBL13xx Motor Controller Datasheet Version 1.1 March 29, 2018

TABLE 3.

Connector Pin Power Dout Com RC Ana Dinput Enc Default Conﬁg

4 PIN1 ANA1 DIN1 ENCA (2) RCRadio1

12 PIN3 ANA3 DIN3 Unused

5 GND

13 GND

6 CANL CAN Low

14 5VOut

7 CANH CAN High

15 PIN6(5) ANA6/ACOS(1) DIN6

8 PIN2 ANA2 DIN2 ENCB (2) Unused

Note 1: ASIN, ACOS and EXC are only available on SBL13xxA

Note 2: Encoder input requires Pulse inputs 1 and 2 to be disabled. Pulse inputs are enabled in factory default.

Note 3: Analog command is disabled in factory default conﬁguration.

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.

915

Pot

RS232

Brake Release

Safety Contactor

Ground

TxOut

RxIn

RC Ch1

FIGURE 8. Factory Default Pin 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). 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.