Datasheet

12 SBLM23xx Motor Controller Datasheet Version 1.2 July 25, 2020
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.
6 to 30V
6 to 30V
STO1
STO2
High
Low
High
Low
STO1 STO2 Motors Output
Disabled
Disabled
Disabled
Enabled
Low Low
Low
Low
High
High High
High
FIGURE 15. 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.