BASICMICRO RoboClaw Solo 300A 60VDC Manuale utente

RoboClaw Solo Motor Controller Data Sheet

RoboClaw Solo 300A, 60VDC

Brushed DC Motor Controller

Data Sheet Version 3.0

RoboClaw Solo Motor Controller Data Sheet

Feature Overview:

• 300 Amps Continuous Per Channel

• Dual Quadrature Decoding

• 9.8 million PPS Decoding

• Multimode Interface

• TTL Serial

• USB Port

• Analog Interface

• R/C Input Control

• Limit, Home and E-Stops

• Up to 34VDC Operation

• Air Cooled

• Cooling Fan Control

• 3.3v Compliant Control Outputs

• 5v Tolerant Control Inputs

• Programmable Current Limiting

• Programmable Voltage Clamping

• Closed and Open Loop Operation

• Auto Tuning PID Feature

• Mixed Control Modes

• Data Logging

• Diagnostic LEDs

• Field Firmware Updates

• Regulated 5VDC, 3A User Available Output

• Over Voltage and Under Voltage Protection

• Easy Tuning, Monitor and Setup with PC utility

Device Overview

The RoboClaw is an intelligent, high performance motor controller designed to control dual brushed DC motors. It can be

controlled from USB, RC radio, PWM, TTL serial, analog and microcontrollers such as an Arduino or Raspberry Pi.

RoboClaw supports 3.3V or 5V logic levels, travel limit switches, home switches, emergency stop switches, power

supplies, braking systems and contactors. A built-in switching mode BEC supplies 5VDC at up to 1 Amp for powering user

devices. In addition power supplies can be utilized by enabling the built in voltage clamping control feature.

A wide variety of feedback sensors are supported. This includes quadrature encoders, potentiometers and absolute

encoders which can be easily congured using the available auto tune function. With sensors, two brushed DC

motors can be controlled in closed loop mode allowing precise control over position and speed. With the ability to use

potentiometers, servo systems can be created and controlled from any of RoboClaw’s interface modes.

For greater control, built-in commands are available for controlling acceleration, deceleration, distance, speed, current

sense, voltage limits and more. In addition, RC and analog modes can be congured by user dened settings to control

acceleration and deceleration rates.

RoboClaw incorporates multiple protection features including temperature, current, over voltage and under voltage limits.

The protection features are self monitoring and protect RoboClaw from damage in any operating condition. User denable

settings such as maximum current limit, maximum and minimum battery voltages are provided for more rened control.

RoboClaw’s regenerative capabilities will charge a supply battery during slow down or breaking. It’s advance circuitry can

change direction during full throttle without damage! RoboClaw also incorporates a LiPo cuto mode to prevent battery

damage.

Multimode Interface

RoboClaw’s I/O are voltage protected and can handle up to 5VDC. The I/O only output a high of 3.3V. This allows

RoboClaw to be interfaced to 5V or 3V logic easily with no translation circuits required. RoboClaw can be connected

directly to a Raspberry Pi or Arduino. All of RoboClaw’s inputs are internally pulled-up to prevent false triggers. Inputs

can also be congured using the Motion Studio application.

RoboClaw Solo Motor Controller Data Sheet

User Regulated Power Output

RoboClaw provides regulated power (BEC) for user devices. A high eciency switching regulator supplies 5VDC at up to

1 Amp. This voltage can be used to power external sensors, encoders, MCUs and other electronics. The regulated user

power is automatically current limited and thermally protected.

Main Battery

The peak operational input voltage can be up to 34VDC. The models maximum input voltage can not be exceeded. If the

maximum voltage is exceed damage can occur. Fully charged batteries maximum voltage must be taken into account

when in use. RoboClaw is a regenerative motor controller. During regeneration, voltages can peak over the maximum

rated voltage and must be managed properly. Do not disconnect the negative terminal if other ground sources are

connected, such as USB cable.

Logic Battery

RoboClaw accepts a logic battery. The logic battery is also known as a backup battery. The user regulated power output

(BEC) is by default powered from the main battery, unless a logic battery is detected. The logic battery source is coupled

to the main battery through an on board automatic switch. If the main battery voltage drops below the logic battery

input level, the logic circuit and user regulated power output will be drawn from the logic battery.

Software

RoboClaw can be easily congured using the Motion Studio software tool. The Windows based application enables users

to quickly congure RoboClaw. The software can be used during run time to monitor and control several operational

parameters. Motion studio is available from the Basicmicro.com website. It can also be found in the Downloads section of

the Basicmicro website or listed under the Download tabs on the production page.

User Manual

This data sheet only covers model specic information and basic wiring. To properly setup and use RoboClaw refer to the

RoboClaw User Manual available for download from http://www.basicmicro.com.

Cooling

RoboClaw will generate heat. The maximum current ratings can only be achieved and maintained with adequate heat

dissipation. The motor controller should be mounted so that sucient airow is provided. Which will dissipate the heat

away from the motor controller during operation. Some models of RoboClaw include a built-in automatic cooling fan

controller, which can be used to help maintain continuous currents under extreme conditions.

Emergency Stop

The motor controller should be wired using an external contactor, relay or high amperage mechanical switch to control

the main power input. A second power source should be used to power the logic section in situations where the main

power will be under heavy load. Voltage drops can occur from constant full load or high speed direction changes. Voltage

drop can cause logic brown outs if only a main battery is used without a logic battery.

USB

A dual ferrit core USB cable is required. The USB port should be used for conguration and debugging. The USB protocol

is not designed for electrically noisy environments. The USB port will likely disconnect and not automatically recover

during operation in electrically noisy environments. To recover from a dropped USB port, the motor controllers USB cable

may require being unplugged and re-plugged in. The TTL serial control should be the preferred method of control in

electrically noisy environments.

Firmware Updates

Firmware updates will be made available from time to time. Updates may add new features or resolve technical issue.

It is important before using RoboClaw for the rst time, to update to the latest rmware. Download and install Motion

Studio with the USB driver. Motion Studio will check for rmware updates. Refer to the RoboClaw User Manual or

Application Notes for additional information on updating the RoboClaw rmware. RoboClaw must be extrnally power. It

wil not power from the USB cable.

Software Libraries

Software libraries are available for controlling the RoboClaw with external harware such as a micrcontroller.

Libraries are available for Arduino (C++) , Raspberry Pi (Python) and C#. The libraries and example code can be

downloaded at: https://www.basicmicro.com and https://resources.basicmicro.com/

RoboClaw Solo Motor Controller Data Sheet

Hardware Overview:

ID Function DESCRIPTION

A Status LEDs Provides RoboClaw status information.

B USB Port Communicate with RoboClaw via USB.

C Control Inputs S1,S2,S3 and Encoder inputs.

D Motor Channel 1 Motor Output. Yellow and green wires.

E Main Battery Main Battery. Red and Black wires.

RoboClaw Solo Motor Controller Data Sheet

Control Interface

The RoboClaw uses standard male pin headers with 0.100” (2.54mm) spacing. The pin headers are ideal for use with

standard servo cables and other popular interface connectors. The table below list the pins and their respective functions.

All pins are 5V tolerant and output 3.3V for compatibility with processor such as Raspberry Pi and Arduino. R/C pulse

input, Analog and TTL can be generated from any microcontroller such as a Arduino or Raspberry Pi. The R/C Pulse input

pins can also be driven by any standard R/C radio receiver. There are several user congurable options available. To

congure RoboClaw, install Motion Studio and connect it to an available USB port.

NAME UART TTL ANALOG R/C PULSE FLIP

SWITCH E-STOP HOME LIMIT V-CLAMP Encoder

S1 RX Motor 1 Motor 1

S2 TX Motor 2 Motor 2 X X

S3 X X X

S4 X X X X X

S5 X X X X X

1A Motor 1

1B Motor 1

+5V

LB IN

GND

+5V

I/O

LB-IN

RoboClaw Solo Motor Controller Data Sheet

Logic Battery (LB IN)

The logic circuit of RoboClaw can be powered from a secondary battery wired to LB IN. A logic battery will prevent

brownouts when the main battery is low or under heavy load. The positive (+) terminal is located at the board edge and

ground (-) is the inside pin closest to the heatsink.

Encoder Power (+ / -)

The pins labeled + and - are the source power pins for encoders. The positive (+) is located at the board edge and

supplies +5VDC. The ground (-) pin is near the heatsink. On RoboClaws with screw terminals, power for the encoders

can be supplied by the 5VDC and GND on the main screw terminal.

Encoder Input (1A / 1B)

EN1 is for encoder 1. When connecting encoders make sure the leading channel for the direction of rotation is connected

to input 1A. Use Motion Studio to determine the encoders direction relative to the motors rotation. Depending on the

type of encoder used ltering maybe required. This is typically accomplished using two 0.1uF capacitor from 1A and 1B

to ground.

Control Inputs (S1 / S2 / S3)

S1, S2 and S3 are congured for standard servo style headers I/O, +5V and GND. S1 and S2 are the control inputs for

serial, analog and RC modes. S3 can be used as a ip switch input, when in RC or Analog modes. In serial mode S3 can

be used as emergency stops input or as voltage clamping control output. When congured as E-Stop inputs, S3 is active

when pulled low. All I/O have internal pull-ups to prevent accidental triggers when left oating. Some RC receivers have

their own supply and will conict with the RoboClaw’s 5v logic supply. It may be necessary to remove the +5V pin from

the RC receivers cable in those situations.

RoboClaw Solo Motor Controller Data Sheet

Main Battery Screw Terminals

The main power input can be from 6VDC to 60VDC on a standard RoboClaw. The red wire is the battery positive (+)

and the black wire is battery negative (-).The main battery wires should be as short as possible. Do not disconnect the

negative wire if other ground sources are connected, such as USB cable.

Do not reverse main battery wires or damage will occur.

Do not disconnect the negative wire if other ground sources are

connected, such as USB cable. Damage will occur.

Disconnect

The main battery should include a quick disconnect of the positive terminal, in case of a run away situation and power

needs to be cut. The switch must be rated to handle the maximum current and voltage from the battery. Total current

will vary depending on the type of motors used. A common solution would be an inexpensive contactor which can be

sourced from sites like Ebay. A power diode rated for approximately 2 to 10 Amps should be placed across the switch/

contactor to provide a return to the battery when power is disconnected. The diode will provide the regenerative power a

place to go even if the switch is open.

Motor Wiring

The motor output wires are yellow and green. Wires to the motor should be kept as short as possible.

Wire Length

Wire diameter and length are important to consider when designing a robot or motor control system. As wire length

increases in length, its inductance is increased. This can cause potentially harmful voltage spikes. The wires from the

controller to battery and motors should be short as possible with the largest gauge available.

Power Supplies

RoboClaw is a regenerative motor controller. When a motor is braking, slowing or coasting it will generate energy. When

a battery is used the surplus energy is dump back into the battery. When a power supply is used the regenerative energy

has no where to go. If the excess energy is not controlled when using a power supply it will result in damage to the

motor controller or power supply or potentially both. There are a few ways to manage the regenerative energy. The two

most common ways are a battery in parallel with the power supply or clamping the excessive energy and converting it to

heat through a high watt resistor. See Vclamp at Basicmicro.com

Regenerative energy can result in damage to the motor

controller if left unmanaged.

ESD Sensitivity

RoboClaw utilizes a high performance processor that can be susceptible to electrostatic discharge. I/O and control signals

are protected. However, handling of the PCB, static can be introduced into areas that will bypass this protection. Ensure a

discharge before handling of RoboClaw.

Static Sensitive Device. Handle with care!

RoboClaw Solo Motor Controller Data Sheet

Control Modes

RoboClaw has 4 main functional control modes explained below. Each mode has several conguration options. The modes

can be congured using Motion Studio or the built-in buttons. Refer to the RoboClaw User Manual for installation and

setup instructions.

Using RC mode RoboClaw can be controlled from any hobby RC radio system. RC input mode also allows low powered

microcontrollers such as a Basic Stamp to control RoboClaw. Servo pulse inputs are used to control the direction and

speed. Very similar to how a regular servo is controlled. Encoders are supported in RC mode, refer to the RoboClaw user

manual for setup instructions.

Analog

Analog mode uses an analog signal from 0V to 2V to control the speed and direction of each motor. RoboClaw can be

controlled using a potentiometer or ltered PWM from a microcontroller. Analog mode is ideal for interfacing RoboClaw

with joystick positioning systems or other non microcontroller interfacing hardware. Encoders are supported in Analog

mode, refer to the RoboClaw user manual for setup instructions.

Simple Serial

In simple serial mode RoboClaw expects TTL level RS-232 serial data to control direction and speed of each motor.

Simple serial is typically used to control RoboClaw from a microcontroller or PC. If using a PC, a MAX232 or an equivalent

level converter circuit must be used since RoboClaw only works with TTL level inputs. Simple serial includes a slave select

mode which allows multiple RoboClaws to be controlled from a signal RS-232 port (PC or microcontroller). Simple serial

is a one way format, RoboClaw can only receive data. Encoders are not supported in Simple Serial mode.

Packet Serial

In packet serial mode RoboClaw expects TTL level RS-232 serial data to control direction and speed of each motor. Packet

serial is typically used to control RoboClaw from a microcontroller or PC. If using a PC a MAX232 or an equivalent level

converter circuit must be used since RoboClaw only works with TTL level input. In packet serial mode each RoboClaw is

assigned a unique address. There are 8 addresses available. This means up to 8 RoboClaws can be on the same serial

port. Encoders are supported in Packet Serial mode, refer to the RoboClaw user manual for setup instructions.

USB Control

USB can be used in any mode. When RoboClaw is in packet serial mode and another device, such as an Arduino, is

connected commands from the USB and Arduino will be executed and can potentially override one another. However if

RoboClaw is not in packet serial mode, motor movement commands will be overridden by Analog or RC pulse input. USB

packet serial commands can then only be used to read status information and set conguration settings.

RoboClaw Solo Motor Controller Data Sheet

Wiring Basics

There are several wiring congurations for RoboClaw. Each conguration will have unique wiring requirements to ensure

safe and reliable operation. The diagram below illustrates a very basic wiring conguration with a maximum voltage of

12VDC and with small motor system, where safety concerns are minimal. This is the most basic wiring conguration

possible. All uses of RoboClaw should include some kind of main battery cut o switch, even when safety concerns are

minimal. Never underestimate a system with movement when an uncontrolled situation arises.

In addition, RoboClaw is a regenerative motor controller. If the motors are moved when the system is o, it could cause

potential erratic behavior due to the regenerative voltages powering the system. The regenerative voltages can cause

problems if a power supply is used for main power. A voltage clamping circuit is recommended to dump the excessive

voltages. See the RoboClaw user manual or Application Notes for voltage clamping setup and wiring diagrams.

R/C Mode

The below wiring diagram is very basic and for use with R/C mode. R/C mode can be used when pairing RoboClaw with

a standard R/C receiver. R/C mode can also be used with a microcontroller and using servo pulses to control RoboClaw.

The RoboClaw supplies power to the R/C system. If the R/C receiver used, has its own power the 5V pin on the 3 pin

connector must be remove, otherwise it will interfere with RoboClaw’s BEC.

M1A

M1B

B-

B+

Battery

ROBOCLAW

Motor 1

Channel 1

R/C

Receiver

RoboClaw Solo Motor Controller Data Sheet

Wiring Safety

In system with movement, safety is a concern. This concern is amplied when dealing with higher voltages. The wiring

diagram below illustrates a properly wired system. An external main power cut o is required (SW1). The external cut o

can consist of a high amperage mechanical switch or a contactor.

When the RoboClaw is switched o or a fuse is blown, a high current diode (D1) is required to create a return path to the

battery for potential regenerative voltages. In addition, a pre-charge resistor (R1) is required to reduce the high inrush

currents to charge the on board capacitors. A pre-charge resistor (R1) should be around 1K, 1/2Watt for a 60VDC motor

controller which will give a pre-charge time of about 15 seconds. A lower resistances can be used with lower voltages to

decrease the pre-charge time.

Closed Loop Mode

A wide range of sensors are supported for closed loop operation. RoboClaw supports dual quadrature encoders (up to

9.8 million PPS), absolute encoders, potentiometers and hall eect sensors. The wiring diagram below is an example

of closed loop mode using quadrature encoders. Quadrature encoders are directional. RoboClaw’s internal counters will

increment for clockwise rotation (CW) and decrement for counter clockwise rotation (CCW). When wiring encoders A and

B channels it is important they are wired to match the direction of the motor. If the encoder is wired in reverse it can

cause a run away condition. All motor and encoder combinations will need to be tuned (see the RoboClaw user manual).

Encoder 1

GND

+5V

EN1 A

EN1 B

5VDC

GROUND

M1A

M1B

B-

B+

Battery

RX0

TX0

+5V

GROUND

ROBOCLAW

Motor 1

UART TX

UART RX

5VDC

GROUND

MCU R1

SW1

Indice

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