Servosila SC-25 Brushless/Brushed Motor Controllers Datasheet Revision E (Sept 2022) www.servosila.com/en/motion-control 1 www.servosila.
Table of Contents Introduction.....................................................................................................................................................................4 Servosila SC-25R: Layout..........................................................................................................................................5 Servosila SC-25C: Layout...............................................................................................................................
Available GPIO pins.................................................................................................................................................16 Schematics: controlling an External Brake via GPIO output...................................................................................17 Schematics: Limit Switch or Emergency Stop.........................................................................................................17 Power Supply........................................
Introduction Servosila SC-25 Brushless/Brushed Motor Controllers come in two form factors, a rectangular one (SC-25R) and a circular one (SC-25C). Both models are identical in terms of capabilities, features, firmware, and external electrical connectors. Industrial designers might prefer one model over the other depending on what actuated mechanisms they are working on.
Servosila SC-25R: Layout Figure 1: SC-25R – Front Side 5 www.servosila.
Servosila SC-25C: Layout Figure 2: SC-25C – Front Side 6 www.servosila.
Electrical Connectors & Part Numbers ID Label X12 ENCODERS Purpose SSI, BISS-C, SPI, PWM input, Quadrature input Part # Mates to Part # Molex 5011902027 Molex 5011892010 Alternative purposes: GPIO limit switches, emergency stop, dedicated input or output pins.
Jumpers ID Label Purpose Part # J1 120 Ohm The jumper turns on (once installed) a 120 Ohm terminal resistance required by the CAN bus. Install the jumper on one of the controllers in a CAN network. Sullins Connector Solutions SPN02SYBN-RC J2 Boot The jumper (once installed) switches the controller into a firmware re-flashing mode.
ENCODERS connector The ENCODERS connector is intended for connecting absolute position encoders via digital interfaces. The supported interfaces are SSI, BISS-C (unidirectional), SPI, Quadrature (single-ended), or PWM. Note that SPI, Quadrature and PWM interfaces share pins. In contrast, the SSI/BISS-C interface comes with a dedicated set of pins. This interface can be used together with other encoder interfaces such as SPI, PWM or Quadrature.
13 +5.0 (power output, fuse-protected) 14 +5.0 (power output, fuse-protected) 15 GND 16 GND 17 I2C bus SCL (not used, firmware-specific) 18 Thermistor input (not used, firmware-specific) 19 I2C bus SDA (not used, firmware-specific) 20 Not used SSI/BISS-C Wire Pin # Description +5.
PWM Input Interface Wire Pin # Description +5.0V 1 Power output, fuse-protected GND 3 Ground PWM 9 PWM input signal Maximum input pulse frequency is 5MHz. Quadrature Interface Wire Pin # Description +5.0V 1 Power output, fuse-protected GND 3 Ground A 5 Signal “A” B 7 Signal “B” I 9 Index Signal (signal “Z”) The quadrature interface is “single-ended” (not a “differential” one). Both “push-pull” and “open collector” connections are supported.
Hall Sensors connector (D HALL) Schematics Pins Pin # Purpose 1 Ground 2 Thermistor input (not used, firmware-specific) 3 Hall signal 0 (discrete) 4 Hall signal 1 (discrete) 5 Hall signal 2 (discrete) 6 +5.0V, power supply The Hall Sensors interface is “single-ended” (not a “differential” one). Both “push-pull” and “open collector” connections are supported. 12 www.servosila.
CAN bus connectors (CAN A, CAN B) The electric motor controllers feature two identical parallel CAN bus ports. This simplifies cabling of multiple controllers into a chain, for example, inside a robotic arm manipulator or a robotic chassis, and streamlines in-thefield repair or replacement process. The controllers come with an on-board terminal 120 Ohm resistor prescribed by the CANbus standard. The resistor can be turned on or off via a jumper.
Firmware re-flashing port (RS232) The RS232 port is used for re-flashing the controller’s firmware. The port is not used for anything else. Schematics Pins Pin # Purpose 1 RX, serial receive 2 TX, serial transmit 3 Ground 14 www.servosila.
GPIO input/output Available GPIO pins The SC25 controllers do not have dedicated GPIO pins or connectors. However, unused pins in ENCODERS connector or Hall Sensors connector (D HALL) can be re-purposed to perform input-output functions. Thus, a different selection of free pins is available for performing GPIO functions depending on what encoder interface is used and on whether or not a motor comes with Hall sensors.
Schematics: controlling an External Brake via GPIO output The diagram shows how to connect an external brake/solenoid to a GPIO output. Note: the nominal value of the resistor depends on the chosen pin. Refer to tables above for proper selection of the nominal value. Schematics: Limit Switch or Emergency Stop The diagram demonstrates a way to connect a Limit Switch or Emergency Stop via pins in ENCODERS connector. A similar approach works with pins of the D HALLS connector. 16 www.servosila.
Power Supply The controllers require 7.0 – 60.0 V DC power input. The controllers come with built-in high-capacity filters for the power input. There are terminals as well as soldering holes (soldering contacts) for connecting power supply lines in a vibration-resistant way. The power supply terminals are polarity sensitive. Power Output The SC-25 controllers can provide power to external modules such as encoders using +5.0V and GND output pins as well as via dedicated soldering holes (soldering contacts).
Specifications Parameter Description Supported kinds of electric motors Brushless DC Motors (PMSM, BLDC). Sensored or Sensorless. Brushed Motors (Full Support including ESC & Servo mode) Number of simultaneously connected motors: - brushless motors - brushed motors or solenoids 1 brushless motor, or up to 2 brushed motors or solenoids Max.
Max. resolution of encoder 20 bit Built-in network router Built-in USB-to-CAN router («USB2CAN dongle»). Both 11bit and 29bit identifiers are supported by the routing function. Control Interfaces CANbus with CANopen application protocol. USB 2.0, a virtual COM port, with SLCAN application protocol. CANbus Terminal Resistor 120 Ohm Yes (jumper controlled) Supported CANbus bit rates 1 mbit/sec 500 kbit/sec 250 kbit/sec 125 kbit/sec 100 kbit/sec 50 kbit/sec CANbus ports 2 (parallel) USB 2.
Servo drives designed around Servosila SC-25C brushless/brushed motor controllers YouTube: http://www.youtube.com/user/servosila www.servosila.com/en/motion-control www.servosila.com/en/shop 20 www.servosila.
