Datasheet

Commands and I/O Connections

SBL23xx Motor Controller Datasheet 9

TABLE 4.

Connector

Pin Power Dout Com Pulse Ana Dinput Enc Hall (4)

Default

Conﬁg

21 RC5 ANA5 DIN5 ENC2A Hall2B Unused

9 ASIN1 DIN9(5) Unused

22 RC6 ANA6 DIN6 ENC2B Hall2C Unused

10 ACOS1 DIN10(5) Unused

23 RS485+ RS485 +

11 RS485 – RS485 –

24 RC7 ANA7/ASIN2 DIN7 ENC1A Unused

12 RC8 ANA8/ACOS2 DIN8 ENC1B Unused

25 5VOut

13 GND

Note 1: Analog command is disabled in factory default conﬁguration.

Note 2: STO functionality only available in T versions. See STO section for details.

Note 3: Pulse input enable by default on ﬁrmware version prior to v2.0

Note 4: Hall inputs are activated in DB25 connector in ﬁrmware v2.0 or later and only if Molex input is conﬁgured as SSI Input.

In that case user has to install 1K pull up resistor between each hall signal and 5VOut.

Note 5: Digital inputs 9 and 10 are available in non “T” models only.

Default I/O Conﬁguration

While 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 two analog potentiometers, an RC radio,

and the RS232 port. It also shows how to connect two outputs to motor brake solenoids and another output

to an external status LED. 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.

113

14 25

Pot 1

RS232

Ground

TxOut

RxIn

Motor Brake 1

Motor Brake 2

Contactor

Pot 2

RC Ch2RC Ch1

FIGURE 8. Factory Default Pin Assignment