Data Sheet

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XDC2xxx Motor Controller Datasheet 1

XDC2xxx

2x150A/1x300A

High Performance

Forward/Reverse

Brushed DC Motor

Controller with USB, CAN

and Encoder Inputs

Roboteq’s XDC2xxx controller is designed to convert com-

mands received from an RC radio, Analog Joystick, wireless

modem, PC (via RS232 or USB) or microcomputer into high

voltage and high current output for driving one or two DC

motors. Using CAN bus, up to 127 controllers can be net-

worked at up to 1Mbit/s on a single twisted pair.

The controller features a high-performance 32-bit microcom-

puter and quadrature encoder inputs to perform advanced

motion control algorithms in Open Loop or Close Loop (Speed

or Position) modes. The XDC2xxx features several Analog,

Pulse and Digital I/Os which can be remapped as command or

feedback inputs, limit switches, or many other functions.

The controller’s two motor channels can either be operated

independently or mixed to set the direction and rotation of a

vehicle by coordinating the motion of each motor. The XDC2xxx

is available in a single channel version with double the current.

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 Lan-

guage scripts. The controller can be reprogrammed in the field

with the latest features by downloading new operating soft-

ware from Roboteq.

Applications

• Industrial Automation

• Tracking, Pan & Tilt systems

• Terrestrial and Underwater Robotic Vehicles

• Automatic Guided Vehicles

• Police and Military Robots

• Flight simulators

• Telepresence Systems

• Animatronics

Features List

• USB, RS232, 0-5V Analog, or Pulse (RC radio) command

modes

• CAN bus up to 1Mbit/s

• Auto switch between USB, RS232, CAN, Analog, or Pulse

based on user-defined priority

• Built-in high-power power drivers for two brushed DC

motors at up to 150A output per channel

• Available in single channel version up to 300A

• Full forward & reverse control on each channel. Four quad-

rant operation. Supports regeneration

• Built-in programming language for automation and custom-

ization

• Operates from a single 10V-30V (XDC2x30) or 10-60V

(XDC2x60) power source

• Programmable current limit for each channel for protecting

controller, motors, wiring and battery

• Up to 6 Analog Inputs for use as command and/or feed-

back

• Up to 4 Pulse Length, Duty Cycle or Frequency Inputs for

use as command and/or feedback

• Up to 6 Digital Inputs for use as Deadman Switch, Limit

Switch, Emergency stop or user inputs

• Dual Quadrature Encoder inputs with 32-bit counters

• Two general purpose 24V, 1A output for brake release or

accessories

• Selectable min, max, center and deadband in Pulse and

Analog modes

• Selectable exponentiation factors for each command

inputs

• Trigger action if Analog, Pulse or Encoder capture are out-

side user selectable range (soft limit switches)

• Open loop or closed loop speed control operation

Summary of content (12 pages)

PAGE 1
XDC2xxx 2x150A/1x300A High Performance Forward/Reverse Brushed DC Motor Controller with USB, CAN and Encoder Inputs Roboteq’s XDC2xxx controller is designed to convert commands received from an RC radio, Analog Joystick, wireless modem, PC (via RS232 or USB) or microcomputer into high voltage and high current output for driving one or two DC motors. Using CAN bus, up to 127 controllers can be networked at up to 1Mbit/s on a single twisted pair.
PAGE 2
• Closed loop position control with analog or pulse/frequency feedback • Precise speed and position control when Encoder feedback is used • • PID control loop with separate gains for each channel Optional Mixed control (sum and difference) for tank-like steering • • • • • Overvoltage and Undervoltage protection Programmable Watchdog for automatic motor shutdown in case of command loss Overtemperature protection Diagnostic LED Extruded aluminum, heat sinking enclosure for operation harsh shock and tem
PAGE 3
Power Wires 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
The diagram below shows how to wire the controller and how to turn power On and Off. F2 1A SW1 Main On/Off Switch 1A PwrCtrl/Yellow Note 1 White/M1+ Ground/Black Motor 1 Backup Battery Green/M1Diode >20A Resistor 1K, 0.5W Note 3 VMot/Red VMot/Red F1 Note 4 + White/M2+ Note 2 Motor 2 SW2 Emergency Contactor or Cut-off Switch Green/M2- Ground/Black Ground/Black - Earth Tab Note 5 I/O Connector Main Battery Note 6 Do not Connect! FIGURE 2. Powering the controller.
PAGE 5
Use of Safety Contactor for Critical Applications Use of Safety Contactor for Critical Applications An external safety contactor must be used in any application where damage to property or injury to person can occur because of uncontrolled motor operation resulting from failure in the controller’s power output stage. F2 1A SW1 Main On/Off Switch 1A PwrCtrl Ground Resistor 1K, 0.5W Diode >20A F1 VMot Digital Out to +40V Max I/O Connector + Ground Main Battery FIGURE 3.
PAGE 6
Encoder Wiring The encoder connector is a 6-pin Molex Microfit 3.0, model 43645. Pin assignment is in the table below. 6 1 6 1 FIGURE 5. Encoder connector TABLE 4. Pin Number 1 2 3 4 5 6 Signal 5Vout Enc1A Enc1B Enc2A Enc2B GND Controller Mounting During motor operation, the controller will generate heat that must be evacuated. The published amps rating can only be fully achieved if adequate cooling is provided.
PAGE 7
Enabling Analog Commands TABLE 5. Connector Pin Power Dout 6 14 Com RC Ana Dinput Default Config CANL CAN Low CANH CAN High 5VOut 7 15 8 RC2 ANA6 DIN6 Unused ANA2 DIN2 RCRadio2 Note 1: Analog command is disabled in factory default configuration. 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).
PAGE 8
Short Detected Overheat Under or Over Voltage Power Stage Off FIGURE 8. Exception or Fault Flashing Patterns Additional status information may be obtained by monitoring the controller with the PC utility. Electrical Specifications Absolute Maximum Values The values in the table below should never be exceeded, permanent damage to the controller may result. TABLE 6.
PAGE 9
Electrical Specifications TABLE 7. Parameter Measure point Models Min Typ Max Units Over Voltage protection range Ground to VBat XDC2x30 5 30 (4) 35 Volts XDC2x60 5 60 62 Volts 0 5 (4) 35 Volts Under Voltage protection range Ground to VBat XDC2x30 XDC2x60 0 5 62 Volts Idle Current Consumption VBat or Pwr Ctrl wires All 50 100 (5) 150 mA ON Resistance (Excluding wire resistance) VBat to M+, plus M- to Ground at 100% power.
PAGE 10
TABLE 7. Parameter Measure point Models Min Typ Max Units Note 1: Negative voltage will cause a large surge current. Protection fuse needed if battery polarity inversion is possible Note 2: Maximum regeneration voltage in normal operation. Never inject a DC voltage from a battery or other fixed source Note 3: Minimum voltage must be present on VBat or Power Control wire Note 4: Factory default value. Adjustable in 0.
PAGE 11
Electrical Specifications Operating & Timing Specifications TABLE 9. Parameter Measure Point Min Typ Max Units Command Latency Command to output change 0 0.
PAGE 12
Mechanical Specifications TABLE 12. Parameter Measure Point Min Typ Max Units Weight Case 1.5 (3.0) kg (lbs) Wire Length Case 17 (43) inches (mm) Power Wire Gauge Wire 8 AWG Power Wire Diameter Outside diameter 0.26 (6.6) inches (mm) USB 1.60" (40 mm) 4.00" (102 mm) 5.50" (140 mm) FIGURE 9. XDC2xxx front view and dimensions 3.00" (76.2 mm) 3.60" (91.4 mm) 4.00" (101.6 mm) 5.50" (140 mm) 0.25" (6.3 mm) 7.00" (177.8 mm) 8.00" (203 mm) 9.00" (228.6 mm) FIGURE 10.