LDC1450 datasheet - Robot MarketPlace
Contents
1. lRoboteQ LDC14xx 1x120A Single Channel Brushed DC Motor Controller with Encoder Input Roboteq s LDC14xx controller is designed to convert com mands received from an RC radio Analog Joystick wireless modem PC via RS232 or microcomputer into high voltage and high current output for driving one DC motor Designed for maximal ease of use it is delivered with all necessary cables and hardware and is ready to use in minutes 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 LDC14xx features several Analog Pulse and Digital I Os which can be remapped as command or feedback inputs limit switches or many other functions 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 e Industrial Automation e Fan amp Pump control e Winch amp Cranes e Personal transportation e Automatic Guided Vehicles e Terrestrial and Underwater Robotic Vehicles e Automated machines e Telepresence Systems e Animatronics Features List e RS232 0 5V Analog or Pulse RC radio command modes e Auto sw2. i VMOTI 123 7 6mm a a R o ry 0 65 16 5mm a HH e M E E E R E E E Me 0 3 7 6mm r rs E Y DQ foz Ke A SS ce Sgi T 5 8 0 6 10 1mm fo a 9 M re a N Y lo ite roy 7 0 3 E e N M 0 3 7 6mm S ae 0 35 8 3mm g trl y O _ r a GND 0 3 76mm se o T N S z GND 0 3 26mm 0 15 a i 3 8mm O oO 0 15 3 8mm 0 5 12 7mm y A Y i 1 gt 0 15 3 8mm _ o 0 15 3 8mm j 2 22 56 3mm 0 19 5 0mm FIGURE 16 LDC14xx top view and dimensions LDC14xx Motor Controller Datasheet
3. the User Manual The information on this datasheet is only a summary Mandatory Connections It is imperative that the controller is connected as shown in the above diagram in order to ensure a safe and trou ble free operation All connections shown as thick black lines line are mandatory The controller must be powered On Off using switch SW1on the Power Control Header Emergency Switch or Contactor The battery must be connected in permanence to the controller s VMot power via an input emergency switch or contactor SW2 as additional safety measure The user must be able to deactivate the switch or contactor at any time independently of the controller state Precautions and Optional Connections Note 1 Optional backup battery to ensure motor operation with weak or discharged battery Note 2 Use precharge 1K Resistor to prevent switch arcing Note 3 Insert a high current diode to ensure a return path to the battery during regeneration in case the fuse is blown Note 4 Optionally ground the VMot wires when the controller is Off if there is any concern that the motors could be made to spin and generate voltage in excess of 30V LDC1430 or 50V LDC1450 Note 5 Beware not to create a path from the ground pins on the I O connector and the battery s minus terminal 4 LDC14xx Motor Controller Datasheet Version 1 2 May 17 2013 lRoboteQ Use of Safety Contactor for Critical Applications Use of Safety Contactor for Critica
4. 1 Connector pin locations LDC14xx Motor Controller Datasheet IRoboteQ TABLE 4 Connector Pin Power Dout Com RC Ana Dinput Enc Default Config 1 DOUT1 Brake 9 DOUT2 Contactor 2 TxOut RS232Tx 10 RC5 ANAS 1 DIN5 ENCA 2 Encoder 2 3 RxIn RS232Rx 11 RC4 ANA4 DIN4 AnaCmad 3 4 RC1 ANA1 1 DIN1 RCRadio1 12 RC3 ANA3 DINS Unused 5 GND 13 GND 6 Reserved Unused 14 5VOut 7 Reserved Unused 15 RC6 1 ANA6 DING ENCB 2 Encoder 2 8 RC2 ANA2 DIN2 Unused Note 1 Pin assignment for this signal may differ from other Roboteg controller models Note 2 Encoder input requires RC inputs 3 4 5 and 6 to be disabled Encoders are enabled in factory default Note 3 Analog command is disabled in factory default configuration Default I O Configuration 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 The figure below shows how to wire the controller to one analog potentiometer an RC radio and the RS232 port It also shows how to connect the output to a motor brake solenoid You may omit any connection that is not required in your application The controller automatically arbitrates the command priorities depending on the pres ence of a valid command signal in the following
5. Point Min Typ Max Units Board Temperature PCB 40 85 1 oC Thermal Protection range PCB 70 80 2 oC Thermal resistance Power MOSFETs to heats sink 2 oC W The LDC14xx uses a conduction plate at the bottom of the board for heat extraction For best results attach firmly Note 1 Thermal protection will protect the controller power Note 2 Max allowed power out starts lowering at minimum of range down to 0 at max of range with thermal compound paste against a metallic chassis so that heat transfers to the conduction plate to the chas sis If no metallic surface is available mount the controller on spacers so that forced or natural air flow can go over the plate surface to remove heat Mechanical Specifications TABLE 11 Parameter Measure Point Min Typ Max Units Weight Board 100 3 5 g oz Power Wire Gauge FASTON tabs 10 AWG 0 1 2 5 mm 0 98 25mm 0 57 0 7 178mm 14 5mm 4 0 16 4 0mm FIGURE 15 LDC14xx front view and dimensions ga 0 325 8 3 mm 10 LDC14xx Motor Controller Datasheet Version 1 2 May 17 2013 lRoboteQ Electrical Specifications 4 45 133 4mm 4 20 106 7mm lt gt 0 20 5 0mm ry 7 O t 6 1 a 0 120 3 0mm VMOT 3 8mm 0 120 3 0mm
6. d to M M LDC1430 0 1 30 2 Volts LDC1450 o 1 50 2 Volts Over Voltage protection range Ground to VMot LDC1430 5 30 4 30 2 Volts LDC1450 5 50 4 50 2 Volts Under Voltage protection range Ground to VMot LDC1430 0 5 4 30 Volts LDC1450 0 5 4 50 Volts Idle Current Consumption VMot or Pwr Ctrl wires All 50 75 5 100 mA ON Resistance Excluding wire VMot to M plus M to Al 6 mOhm resistance Ground at 100 power Max Current for 30s Motor current All 120 6 Amps Continuous Max Current Motor current Al 60 7 Amps Current Limit range Motor current Al 1 60 8 120 Amps Stall Detection Amps range Motor current Al 1 60 8 120 Amps Stall Detection timeout range Motor current Al 1 500 9 65000 milli seconds Motor Acceleration Deceleration range Motor current All 100 500 65000 milli 10 seconds 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 VMot or Power Control wire Note 4 Factory default value Adjustable in 0 2V increments Note 5 Current consumption is lower when higher voltage is applied to the controller s VMot or PwrCtrl wires Note 6 Max value is determined by current limit setting Duration is estimated and is dependent on ambient temperature cooling condition Note 7 E
7. formation 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 5 Parameter Measure point Model Min Typ Max Units Battery Leads Voltage Ground to VMot LDC1430 10 35 Volts LDC1450 10 50 Volts Reverse Voltage on Battery Leads Ground to VMot All 1 Volts Motor Leads Voltage Ground to M M LDC1430 30 Volts LDC1450 50 Volts Digital Output Voltage Ground to Output pins All 40 Volts Analog and Digital Inputs Voltage Ground to any signal pin on 15 pin All 15 Volts connectors RS232 I O pins Voltage External voltage applied to Rx Tx pins All 15 Volts LDC14xx Motor Controller Datasheet 7 IRoboteQ TABLE 5 Parameter Measure point Model Min Typ Max Units Board Temperature Board All 40 85 oC Humidity Board All 100 2 Note 1 Maximum regeneration voltage in normal operation Never inject a DC voltage from a battery or other fixed source Note 2 Non condensing Power Stage Electrical Specifications at 250C ambient TABLE 6 Parameter Measure point Model Min Typ Max Units Battery Leads Voltage Ground to VMot LDC1430 10 1 30 Volts LDC1450 10 1 50 Volts Motor Leads Voltage Groun
8. itch between RS232 Analog or Pulse based on user defined priority e Built in high power power drivers for one DC motor at up to 120A e Full forward amp reverse control Four quadrant operation Supports regeneration e Operates from a single power source e Built in programming language for automation and custom ization e Programmable current limit up to 120A for protecting con troller motors wiring and battery e Up to 6 Analog Inputs for use as command and or feed back e Up to 6 Pulse Length Duty Cycle or Frequency Inputs for use as command and or feedback e Up to 6 Digital Inputs for use as Deadman Switch Limit Switch Emergency stop or user inputs e Quadrature Encoder input with 32 bit counter e 2 general purpose 24V 1A output for brake release or accessories e Selectable min max center and deadband in Pulse and Analog modes e Selectable exponentiation factors for each command inputs e Trigger action if Analog Pulse or Encoder capture are out side user selectable range soft limit switches e Open loop or closed loop speed control operation e Closed loop position control with analog or pulse fre quency feedback e Precise speed and position control when Encoder feed back is used LDC14xx Motor Controller Datasheet lRoboteQ e PID control loop e Configurable Data Logging of operating parameters on RS232 Output for telemetry or analysis e Built in Battery Voltage and Temperature senso
9. l 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 SW1 Main 1A On Off Switch 1A PwrCtrl Ground Resistor to 40V Max Digital Out 1 0 Connector FIGURE 10 Contactor wiring diagram The contactor coil must be connected to a digital output configured to activate when No MOSFET Failure The controller will automatically deactivate the coil if the output is expected to be off and battery current of 2 5A or more is measured for more than 0 5s This circuit will not protect against other sources of failure such as those described in the Important Safety Disclaimer on page 3 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 Mount the controller so that the bottom plate makes con tact with a metallic surface chassis cabinet to conduct the heat Sensor and Commands Connection Connection to RC Radio Microcomputer Joystick and other low current sensors and actuators is done via the 15 connector located in front of the board The functions of many pins vary depending on user configuration Pin assignment is found in the table below 8 1 oo0o000000 oo0oo0oo0000 15 9 FIGURE 1
10. olled 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 Roboteq will not be liable in case of damage or injury as a result of product misuse or failure Power Wires Identifications and Connection Power connections are made through FASTON tabs For more power handling the Supply and Motor tabs are dou bled and should be connected in parallel Battery and Motor Conections pe ajl a Oo SH z Zz s ol o OOOO a E G A oO VMOT Ctrl E Status LED E Power LED fe fe Ld 1 0 Connector FIGURE 8 Controller layout LDC14xx Motor Controller Datasheet 3 lRoboteQ The diagram below shows how to wire the controller and how to turn power On and Off F2 SW1 Main 1A On Off Switch 1A PwrCtrl Ground Resistor 1K 0 5W Motor Emergency Note 4 Contactor or Cut off Switch Ground Ground I O Connector Note 5 Do not Connect FIGURE 9 Powering the controller Thick lines identify MANDATORY connections Important Warning Carefully follow the wiring instructions provided in the Power Connection section of
11. 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 RS232 Ground TxOut RxIn Motor Brake Safety Contactor FIGURE 12 Factory default pins assignment 6 LDC14xx Motor Controller Datasheet Version 1 2 May 17 2013 lRoboteQ Enabling Analog Commands 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 Use the PC utility to enable and assign analog inputs Status LED Flashing Patterns After the controller is powered on the Power LED will tun on indicating that the controller is On The Status LED will be flashing at a 2 seconds interval The flashing pattern provides operating or exception status information FIGURE 13 Normal Operation Flashing Patterns RS232 USB Mode RC Pulse Mode Analog Mode BEEEEEEEEEEEEEEM Short Detected EEEEEEREEEEEEEEEE Overheat CE E a i a a Le i a FIGURE 14 Exception or Fault Flashing Patterns Power Stage Off Idle Waiting for Command Under or Over Voltage Additional status in
12. rs e Power Control input for turning On or Off the controller from external microcomputer or switch e No consumption by output stage when motors stopped e Regulated 5V output for powering Encoders RC radio RF Modem or microcomputer e Programmable acceleration and deceleration e Programmable maximum forward and reverse power e Ultra efficient 3 mOhm ON resistance MOSFETs e Stall detection and selectable triggered action if Amps is outside userselected range e Overvoltage and Undervoltage protection e Programmable Watchdog for automatic motor shutdown in case of command loss e Overtemperature protection e Diagnostic LED e Efficient heat sinking using conduction bottom plate Operates without a fan in most applications e Power wiring via FASTON terminals e Open frame or enclosed design with heat conducting bottom plate e 5 50 140mm L 4 45 W 113mm 0 78 20mm H Orderable Product References 400 to 850 C operating environment 3 50z 100g Easy configuration tuning and monitory using provided PC utility Field upgradeable software for installing latest features via the internet TABLE 1 Reference Number of Channels Amps Channel Volts Cover LDC1430C 1 120 30 Yes LDC1450C 1 120 50 Yes 2 LDC14xx Motor Controller Datasheet Version 1 2 May 17 2013 IRoboteQ Power Wires Identifications and Connection Important Safety Disclaimer Dangerous uncontr
13. s 1 mV Pulse durations Pulse inputs 20000 10 us Pulse repeat rate Pulse inputs 50 250 Hz Pulse Capture Resolution Pulse inputs 1 us Frequency Capture Pulse inputs 100 10000 Hz Encoder count Internal 2 147 2 147 1049 Counts Encoder frequency Encoder input pins 1M 1 Counts s Note1 Encoder input requires RC inputs 3 4 5 and 6 to be disabled Encoders are enabled in factory default Operating amp Timing Specifications TABLE 8 Parameter Measure Point Min Typ Max Units Command Latency Command to output change 0 2 5 5 ms PWM Frequency Motor outputs 10 18 1 20 kHz Closed Loop update rate Internal 200 Hz RS232 baud rate Rx amp Tx pins 115200 2 Bits s RS232 Watchdog timeout Rx pin 1 3 65000 ms Note 1 May be adjusted with configuration program Note 2 115200 8 bit no parity 1 stop bit no flow control Note 3 May be disabled with value 0 Scripting TABLE 9 Parameter Measure Point Min Typ Max Units Scripting Flash Memory Internal 2048 Bytes Max Basic Language programs Internal 500 750 Lines Integer Variables Internal 64 Words 1 LDC14xx Motor Controller Datasheet 9 RoboteQ TABLE 9 Parameter Measure Point Min Typ Max Units Boolean Variables Internal 1024 Symbols Execution Speed Internal 15 000 30 000 Lines s Note 1 32 bit words Thermal Specifications TABLE 10 Parameter Measure
14. stimate Limited by heatsink temperature Current may be higher with better cooling Note 8 Factory default value Adjustable in 0 1A increments Note 9 Factory default value Time in ms that Stall current must be exceeded for detection Note 10 Factory default value Time in ms for power to go from 0 to 100 Important Warning Beware that regenerative braking can create high voltage at the controller s power inputs Use the con troller only with batteries See user manual for special precautions when using a power supply 8 LDC14xx Motor Controller Datasheet Version 1 2 May 17 2013 IRo b oteQ Electrical Specifications Command I O and Sensor Signals Specifications TABLE 7 Parameter Measure point Min Typ Max Units Main 5V Output Voltage Ground to 5V pin on DSub15 4 7 49 5 1 Volts 5V Output Current 5V pin on DSub15 100 mA Digital Output Voltage Ground to Output pins 40 Volts Digital Output Current Output pins sink current 1 Amps Output On resistance Output pin to ground 0 75 1 5 Ohm Output Short circuit threshold Output pin 1 05 1 4 1 75 Amps Input Impedances AIN DIN Input to Ground 53 kOhm Digital Input O Level Ground to Input pins 1 1 Volts Digital Input 1 Level Ground to Input pins 3 15 Volts Analog Input Range Ground to Input pins 0 5 1 Volts Analog Input Precision Ground to Input pins 0 5 Analog Input Resolution Ground to Input pin
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