Datasheet

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

SBLM23xx Motor Controller Datasheet 1

SBLM23xx

RoboteQ’s SBLM2360 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 SBLM2360 features several Analog, Pulse and Digital

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

limit switches, or many other functions. The SBLM2360

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

• 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 differential or single ended

• Field Oriented Control in Sinusoidal modes

• Full forward & reverse motor control. Four quadrant

operation. Supports regeneration

• Operates from a single 10V-60V 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

• Up to 8 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 (17 pages)

PAGE 1
SBLM23xx Advanced Features 2 x 30A or 1 x 60A Brushless DC Motor Controller with USB and CAN RoboteQ’s SBLM2360 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.
PAGE 2
• Up to 10 Digital Inputs for use as Deadman Switch, • • • • • • • • • • • • • • • Separate Programmable acceleration and deceleration Limit Switch, Emergency stop or user inputs Inputs for up to 2 Quadrature Encoders 4 general purpose 24V, 1.
PAGE 3
Power Terminals Identifications and Connection 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.
PAGE 4
Diode >20A Resistor 1K, 0.5W Note 3 Note 2 VMot F1 Note 4 U1 U1 Motor1 SW2 Emergency Contactor or Cut-off Switch V1 V1 W1 W1 + Ground M ain Battery Rotor Sensors1 Rotor Sensor Connector Note 5 Do not Connect! Rotor Sensors2 Ground F2 SW1 M ain 1A On/Off Sw itch 1A Note 1 - + W2 PwrCtrl I/O Connector Ground Backup Battery V2 V2 W2 Motor2 U2 U2 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
Resistor 1K, 0.5W Diode >20A F1 VMot Digital Out to +40V Max I/O Connector PwrCtrl F2 1A Ground SW1 Main On/Off Switch 1A + 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
Motor Brake Connection Motor Brake Connection Two pins on the motor connector are provided for connection to a motor brake. The output is modulated with a PWM signal so that a higher voltage can be initially applied to energize the coil, and then reduced to maintain the brake released while consuming less energy. Important Warning The Brk+ is internally connected to the VMOT supply voltage. Exercise care to avoid short circuits during wiring.
PAGE 8
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.. 1 2 3 4 5 6 1 2 3 4 5 6 Hall A U Hall B 3 1 Hall C 6 4 U + V + - W - + - + - + - + + + - - + + - - + 5 W - V 2 + FIGURE 8.
PAGE 9
Connection to Analog Sin/Cos Absolute Encoder Connection to Analog Sin/Cos Absolute Encoder The SBLM2360 has 4 high-speed analog inputs that can be used to capture absolute angle position from resolvers or magnetic sensors with sin/cos voltage outputs. The signal must be 0-5V max with the 0 at 2.500V. The sensor can be single ended or differential. TABLE 3. Differential Sin/Cos signals on the SBLM23xxx Pin Number 1 2 3 4 5 6 Signal 5V Cos – Cos+ Sin – Sin+ Ground 6 1 6 1 FIGURE 10.
PAGE 10
Connector Pin Power Dout Com Pulse Ana Dinput Enc PIN6 ANA6 DIN6 ENC2B Hall2C PIN5 ANA5 DIN5 ENC2A Hall2B 9 PIN3 ANA3 DIN3 STO1 Hall1C 21 PIN4 ANA4 DIN4 STO2 Hall2A PIN2 ANA2 DIN2 Hall1B PIN1 ANA1 DIN1 Hall1A 16 5 Hall (1) CANL 17 6 DOUT4 18 CANH 7 DOUT2 19 DOUT3 8 STO GND 20 DOUT1 10 RS RxD 22 11 RS TxD 23 12 GND 24 5VOut Note1: Hall inputs are activated in DB25 connector in firmware v2.
PAGE 11
Status LEDs and Flashing Patterns Status LEDs and Flashing Patterns The controller is equipped with 3 LEDs. A Green Power LED, a Red/Green Status LED, and a Yellow Communication LED. After the controller is powered on, the Power LED will tun on, indicating that the controller is On. The Status LED will be flashing at a two second interval. The flashing pattern and colour provides operating or exception status information. Idle - Waiting for Command RS232/USB Mode RC Pulse Mode Analog Mode FIGURE 12.
PAGE 12
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. Sinusoidal Trapezoidal Amps RMS DC Equivalent 120A 170A (Irms * 1.414) 60A 85A (Irms * 1.414) 120A 147A (Irms * 1.225) 60A 73.5 (Irms * 1.
PAGE 13
Electrical Specifications Electrical Specifications Absolute Maximum Values The values in the table below should never be exceeded, permanent damage to the controller may result. TABLE 5.
PAGE 14
TABLE 6.
PAGE 15
Electrical Specifications TABLE 7. Parameter Measure point Pulse Capture Resolution Pulse inputs Frequency Capture Pulse inputs Min Typ Max 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. Parameter Measure Point Min Typ Max Units Command Latency Command to output change 0 0.
PAGE 16
TABLE 10. Parameter Measure Point Min Typ Fast fuse to install(3)(4) SBLM23xx 20 2 x 20 Amps 2 x 20 Amps SBLM23xxS Overload protection - Max Units Check Note 5 Note 1: Thermal protection will protect the controller power Note 2: Max allowed power out starts lowering at minimum of range, down to 0 at max of range Note 3: There are two power terminals. Fuse should be installed in both of them for safety.
PAGE 17
Electrical Specifications 25.90 16.60 FIGURE 16. SBLM23xx Side View and Dimensions 123.00 112.38 83.00 72.39 FIGURE 17.