Data Sheet

ManualsBrandsRoboteQ ManualsBrushless DC Motor ControllersSBL2360 60V 2x20A Brushless DC Motor Controller

SBL23xx Motor Controller Datasheet 1

SBL23xx

Roboteq’s SBL23xx is a feature-packed, medium-current,

dual or single channel controller for brushless DC motors.

Available in 30V and 60V versions, the control ler can operate

in one of several modes in order to sense the rotor position

and sequence power on the motors’ three windings in order

to generate smooth continuous rotation. The controller also

uses the Hall sensor and/or Encoder information to com pute

speed and measure traveled distance. The motors may be

operated in open or closed loop speed mode, position mode

or in torque mode. The SBL23xx features several Analog,

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

or feedback inputs, limit switches, or many other functions.

The SBL23xx accepts commands received from an RC radio,

Analog Joystick, wireless modem, or microcomputer. For

mobile robot applications, the controller’s two motor chan nels

can either be operated independently or mixed to move and

steer a vehicle. Using CAN bus, up to 127 controllers can be

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

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 conﬁgured, monitored and tuned in real-time

using a Roboteq’s free PC utility. The control ler can also

be reprogrammed in the ﬁeld with the latest fea tures by

downloading new operating software from Roboteq.

Applications

• Automatic Guided Vehicles (AGV)

• Small Electric Vehicles, Electric Bikes

• Terrestrial and Underwater Robotic Vehicles

• Police and Military Robots

• Hazardous Material Handling Robots

• Balancing Robots

• Telepresence Systems

• Animatronics

Key Features

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

modes

• One serial port

• CAN bus interface up to 1Mbit/s with multiple protocol

support

• RS485

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

based on user-deﬁned priority

• Built-in dual 3-phase high-power drivers for two brushless

DC motor at up to 30A

• Output channels can be paralleled in order to drive a

single motor at up to 60A

• Multiple Motor Operating mode

- Trapezoidal with Hall Sensors

- Trapezoidal Sensorless

- Sinusoidal with Encoders

- Sinusoidal with Hall Sensors

• Support for absolute angle encoders

- sin/cos analog

- SSI digital

• Field Oriented Control in Sinusoidal modes

• Full forward and reverse motor control. Four quadrant

opera tion. Supports regeneration

• Operates from a single 10V-30V or 10V-60V power source

• Programmable current limit up to 30A (60A on single

channel version) per motor for protecting controller,

motor, wiring and battery.

• Separate connector for Hall Sensors

• Accurate speed and Odometry measurement using Hall

Sensor or Encoder data

• Up to eight Analog Inputs for use as command and/or

feed back

• Up to eight Pulse Length, Duty Cycle or Frequency Inputs

for use as command and/or feedback

Advanced Features

2 x 30A or 1 x 60A

Brushless DC

Motor Controller

with USB and CAN

Summary of content (16 pages)

PAGE 1
SBL23xx Advanced Features 2 x 30A or 1 x 60A Brushless DC Motor Controller with USB and CAN Roboteq’s SBL23xx is a feature-packed, medium-current, dual or single channel controller for brushless DC motors. Available in 30V and 60V versions, the controller can operate in one of several modes in order to sense the rotor position and sequence power on the motors’ three windings in order to generate smooth continuous rotation.
PAGE 2
• • • • • • • • • • • • • • • Up to 10 Digital Inputs for use as Deadman Switch, Limit Switch, Emergency stop or user inputs Inputs for up to two Quadrature Encoders Four general purpose 24V, 1.
PAGE 3
Power Terminals Identifications and Connection Important Safety Disclaimer A 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 their system safe in all conditions.
PAGE 4
VMot Ground Ground Power Control Controller Power F2 1A SW1 M ain On/Off Sw itch 1A PwrCtrl Note 1 U1 U1 Ground Motor1 Backup Battery V1 Diode >20A W1 W1 Resistor 1K, 0.5W Note 3 V1 Hall Sensors1 Note 2 F1 Note 4 VMot Hall sensor Connector Hall Sensors2 SW2 Emergency Contactor or Cut-off Switch W2 V2 + - Ground M ain Battery W2 Motor2 I/O Connector Note 6 Do not Connect! V2 U2 U2 Note 5 FIGURE 2. Powering the Controller.
PAGE 5
Single Channel Wiring Note 4: Users have the option to ground the VMot terminal when the controller is Off.It is recommended that users do this if there is any concern that the motors could be made to spin and generate voltage in excess of 30V on the SBL2330 or 60V on the SBL2360. Note 5: Connect the controller’s bottom plate to a wire connected to the Earth while the charger is plugged in the AC main, or if the controller is powered by an AC power supply.
PAGE 6
Use of Safety Contactor for Critical Applications An external safety contactor must be used in any application where damage to property or personal injury can occur due to uncontrolled motor operation resulting from a 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 7
Hall Sensor vs Motor Output sequencing TABLE 1. Pin Number 1 Signal 5V 2 3 4 5 6 Hall C Hall B Hall A Ground 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.
PAGE 8
Connection to Analog Sin/Cos Absolute Encoder The SBL23xx has four high-speed analog inputs that can be used to capture absolute angle position from angular sensors with sin/cos voltage outputs. The signal must be 0-5V max with the 0 at 2.500V. Table 3, below, shows the signals assignment on the 25-pin connector. TABLE 3.
PAGE 9
Commands and I/O Connections TABLE 4. Connector Pin Power Dout Com Pulse 9 22 RC6 10 23 11 ASIN1 DIN9 ANA6 DIN6 ACOS1 DIN10 Enc Default Config Unused ENC2B Unused Unused RS485+ RS485- RS485- 12 13 Dinput RS485+ 24 25 Ana RC7 ANA7/ ASIN2 DIN7 ENC1A Unused RC8 ANA8/ ACOS2 DIN8 ENC1B Unused 5VOut GND Note 1: Analog command is disabled in factory default configuration.
PAGE 10
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. Figure 9 shows suggested assignment of Pot 1 to ANA1 and Pot 2 to ANA4.
PAGE 11
Electrical Specifications FIGURE 11. Exception or Fault Flashing Patterns Additional status information may be obtained by monitoring the controller with the PC utility. The communication LED gives status information on the CAN and USB. Always off: No USB, No CAN Always On: USB Active, No CAN Flashing On: No USB, CAN Enabled Flashing Off: USB Active, CAN Enabled FIGURE 12.
PAGE 12
TABLE 5. Parameter Measure point Model Analog and Digital Inputs Voltage Ground to any signal pin on 15-pin & Hall inputs RS232 I/O pins Voltage Min Typ Max Units All 30 Volts External voltage applied to Rx pin All 30 (3) Volts Case Temperature Case All 85 ºC Humidity Case All 100 (4) % -40 Note 1: Maximum regeneration voltage in normal operation. Never inject a DC voltage from a battery or other fixed source Note 2: Outputs are Open Drain.
PAGE 13
Electrical Specifications TABLE 6. Parameter Measure point Model Min Typ Max Units Stall Detection Amps range Motor current SBL23xx 10 30 (7) 30 Amps SBL23xxS 20 60 (7) 60 Amps 1 500 (8) 65000 milliseconds Stall Detection timeout range Motor current All Short Circuit Detection threshold (9) Between Motor wires or Between Motor wires and round Between Motor wires and VBat SBL23xx 85 (10) Amps SBL23xxS 190 (10) Amps All No Protection.
PAGE 14
TABLE 7. Parameter Measure point Min Typ Max Analog Input Resolution Ground to Input pins Pulse durations Pulse inputs 20000 10 us Pulse repeat rate Pulse inputs 50 250 Hz Pulse Capture Resolution Pulse inputs Frequency Capture Pulse inputs 1 mV 1 100 Units us 2000 Hz Note 1: Sum of all 5VOut outputs Note 2: Outputs are Open Drain. They pull to ground when on and float when off. Load must be connected between output and positive voltage Operating & Timing Specifications TABLE 8.
PAGE 15
Thermal Specifications TABLE 10. Parameter Measure Point Min Max Units Case Temperature Case -40 Typ 85 (1) ºC Thermal Protection range Case 80 90 (2) ºC Power Dissipation Case 10 (2) Watts Thermal resistance Power MOSFETs to plate 0.
PAGE 16
72.4 83.0 D 3.2 112.4 FIGURE 14. SBL23xx Top View and Dimensions 16 SBL23xx Motor Controller Datasheet Version 1.