Datasheet

10 SBLM23xx Motor Controller Datasheet Version 1.2 July 25, 2020

Connector

Pin Power Dout Com Pulse Ana Dinput Enc STO Hall (1)

16 PIN6 ANA6 DIN6 ENC2B Hall2C

5 CANL

17 PIN5 ANA5 DIN5 ENC2A Hall2B

6 DOUT4

18 CANH

7 DOUT2

19 DOUT3

8 GND

20 DOUT1

9 PIN3 ANA3 DIN3 STO1 Hall1C

21 PIN4 ANA4 DIN4 STO2 Hall2A

10 RS RxD

22 PIN2 ANA2 DIN2 Hall1B

11 RS TxD

23 PIN1 ANA1 DIN1 Hall1A

12 GND

24 5VOut

Note1: 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.

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. 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.

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. Use the PC utility to enable and assign analog inputs.

USB communication

Use USB only for conﬁguration, monitoring and troubleshooting. USB is not a reliable communication

method when used in an electrically noisy environments and communication will not always recover

after it is lost without unplugging and replugging the connector, or restarting the controller. Always prefer

RS232 communication when interfacing to a computer. USB and CAN can operate at the same time on the

SBLM2360. Plugging USB to a computer will not disable CAN interface.