Datasheet

Measured Amps
SBL23xx Motor Controller Datasheet 11
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.
Both Motor Amps and Battery Amps are therefore measured with precision.
When motor is rotating, amps are AC. The SBL23xx measures and is rated based on RMS Amps. The table
below shows the relation between the RMS current and the DC Equivalent in Sinusoidal and Trapezoidal
modes. In sinusoidal mode, DC equivalent are the amps resultant from the torque (Iq) and quadrature (Id)
vectors. In trapezoidal mode, they are the DC amps that flow through the two coils that are active at any one
time.
Amps RMS DC Equivalent
Sinusoidal
120A 170A (Irms * 1.414)
60A 85A (Irms * 1.414)
Trapezoidal
120A 147A (Irms * 1.225)
60A 73.5 (Irms * 1.225)
Safe Torque Off - STO
Safe Torque Off is a safe method for switching controller in a state where no torque is generated, regardless
whether the controller is operating normally or is faulty. When STO is enabled, two digital inputs, DIN3 and
DIN4 are remapped as STO1 and STO2. The inputs are redundant and both must have a 6V to 30V signal
present at the same time in order for the Power MOSFETs to be energized. The controller will perform a
self-check of the STO circuit at every power on and every time the STO inputs go from any state to both
high. Once the STO hardware is verified to work, the controller will safely allow the motors to be energized. If
either input is below 1V, the controller’s outputs will be disabled. The STO circuit is verified and validated and
can therefore be trusted instead of external relays. See STO Manual for more information and maintenance
instructions.
By factory default STO functionality is disabled. It must be enabled by removing the jumper located on the
controller’s PCB. STO functionality is only available in the T version of the controller.