Datasheet

ManualsBrandsRoboteQ ManualsBrushless DC Motor ControllersSingle Channel 60A 60V BLDC Controller

SBL23xx Motor Controller Datasheet 1

SBL23XX

RoboteQ’s SBL23xx is a features-packed, high-current, dual

or single channel controller for brushless DC motors. The

controller can operate in one of several modes in order to

sense the rotor position and sequence power on the motor’s

3 windings in order to generate smooth continuous rotation.

The controller also uses the Hall sensor and/or Encoder

information to compute speed and measure travelled distance

inside a 32-bit counter. The motors may be operated in open

or closed loop speed mode, position mode or in torque mode.

The SBL2360 features several Analog, Pulse and Digital

I/Os which can be remapped as command or feedback inputs,

limit switches, or many other functions. The SBL2360 accepts

commands received from an RC radio, Analog Joystick,

wireless modem, or microcomputer. For mobile robot

applications, the controller’s two motor channels 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 Language scripts. The controller can be conﬁgured,

monitored and tuned in real-time using a RoboteQ’s free

PC utility. The controller can also be reprogrammed in the

ﬁeld with the latest features by downloading new operating

software from Roboteq.

Applications

• Automatic Guided Vehicles

• 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 RS232 serial port

• CAN bus interface up to 1Mbit/switch multiple protocol

support

• RS485

• Optional Ethernet interface

• 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

- Sinusoidal with Encoders

- Sinusoidal with Hall Sensors

• Support for absolute angle encoders

- sin/cos analog

- SSI

• Field Oriented Control in Sinusoidal modes

• Full forward & reverse motor control. Four quadrant

operation. Supports regeneration

• Operates from a single 12V power source

• STO - Safe Torque Off support (T-version)

• Design compliant/approval UL 61800-5-1

• 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 8 Analog Inputs for use as command and/or

feedback

Advanced Features

Brushless DC

Motor Controller

with USB and CAN

Summary of content (18 pages)

PAGE 1
SBL23XX Advanced Features Brushless DC Motor Controller with USB and CAN RoboteQ’s SBL23xx is a features-packed, high-current, dual or single channel controller for brushless DC motors. The controller can operate in one of several modes in order to sense the rotor position and sequence power on the motor’s 3 windings in order to generate smooth continuous rotation. The controller also uses the Hall sensor and/or Encoder information to compute speed and measure travelled distance inside a 32-bit counter.
PAGE 2
• Up to 8 Pulse Length, Duty Cycle or Frequency Inputs • • • • • • • • • • • • • • • for use as command and/or feedback Up to 10 Digital Inputs for use as Deadman Switch, Limit Switch, Emergency stop or user inputs Inputs for up to 2 Quadrature Encoders 4 general purpose 24V, 1.
PAGE 3
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. Roboteq will not be liable in case of damage or injury as a result of product misuse or failure.
PAGE 4
Controller Power F2 1A SW1 M ain On/Off Sw itch 1A PwrCtrl Note 1 Motor1 Backup Battery V1 Diode >20A V1 W1 W1 Resistor 1K, 0.5W Note 3 Sensor Note 2 F1 Note 4 VMot Sensor Connectors SW2 Emergency Contactor or Cut-off Switch Sensor W2 V2 + U1 U1 Ground M ain Battery Ground 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 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. Note 2: Use precharge 1K, 0.5W Resistor to prevent switch arcing. Note 3: Insert a high-current diode to ensure a return path to the battery during regeneration in case the fuse is blown.
PAGE 6
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. Contactor Wiring Diagram The contactor coil must be connected to a digital output configured to activate when “No MOSFET Failure”. The controller will automatically deactivate the coil if the output is expected to be off and battery current of 1A or more is measured for more than 0.5s.
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
TABLE 3. Signal Pin Number Pin Name Sin1 9 ASIN1 Cos1 10 ACOS1 Sin2 24 ANA7/ASIN2 Cos2 12 ANA8/ACOS2 Commands and I/O Connections Connection to RC Radio, Microcomputer, Joystick and other low current sensors and actuators is done via the DB25 connector. The functions of many pins vary depending on controller model and user configuration. Pin assignment is found in the table below. 14 25 1 13 FIGURE 7. Main Connector Pin Locations TABLE 4.
PAGE 9
Commands and I/O Connections TABLE 4. Connector Pin Power Dout Com 21 Pulse Ana Dinput Enc Hall (4) Default Config RC5 ANA5 DIN5 ENC2A Hall2B Unused ASIN1 DIN9(5) ANA6 DIN6 ENC2B Hall2C ACOS1 DIN10(5) 9 22 RC6 10 Unused Unused Unused 23 RS485+ RS485 + 11 RS485 – RS485 – 24 12 25 5VOut 13 GND RC7 ANA7/ASIN2 DIN7 ENC1A Unused RC8 ANA8/ACOS2 DIN8 ENC1B Unused 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. The drawing shows suggested assignment of Pot 1 to ANA1 and Pot 2 to ANA4.
PAGE 11
Measured Amps 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 11. Communication LED Flashing Patterns Measured Amps The controller includes Amps sensors in line with the motor terminals and on the battery ground terminals.
PAGE 12
FIGURE 12. STO input levels effects on controller output The STO function is compliant to: • • • • IEC 61800-5-2:2007, SIL 3 IEC 61508:2010, SIL 3 IEC 62061:2005, SIL 3 ISO 13849-1:2015, Category 3 Performance Level e Important Warning Activating STO does lead to no more torque generation on the motor. The motor will not be actively stopped but run out. In case of a multiple fault in the power stage a rotation might occur.
PAGE 13
Electrical Specifications Power Stage Electrical Specifications (at 25ºC ambient) TABLE 6.
PAGE 14
Power Stage Electrical Specifications SBL2396 and SBL2396S models specific (at 25ºC ambient) TABLE 7.
PAGE 15
Electrical Specifications TABLE 8. Parameter Measure point Min Typ Max Units Analog Input Precision Ground to Input pins 0.5 % Analog Input Resolution Ground to Input pins 1 mV Pulse durations Pulse inputs 20000 Pulse repeat rate Pulse inputs 50 Pulse Capture Resolution Pulse inputs Frequency Capture Pulse inputs 10 us 250 Hz 1 100 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.
PAGE 16
Scripting TABLE 11. Parameter Measure Point Min Typ Max Scripting Flash Memory Internal Max Basic Language programs Internal Integer Variables Internal 4096 Words (1) Boolean Variables Internal 8192 Symbols Execution Speed Internal 100 000 Lines/s 32000 1000 Bytes 3000 50 000 Units Lines Note 1: 32-bit words Thermal Specifications TABLE 12.
PAGE 17
Electrical Specifications STO Specifications TABLE 13.
PAGE 18
72.4 83.0 D 3.2 112.4 FIGURE 14. SBL23xx Top View and Dimensions 18 SBL23xx Motor Controller Datasheet Version 1.