Data Sheet - IDTechnology
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1. lRoboteQ SDC1130 1x40A Single Channel Forward Reverse Brushed DC Motor Controller Roboteq s SDC1130 controller is designed to convert com Features List mands received from an RC radio Analog Joystick wireless modem PC via RS232 or microcomputer into high voltage and RS232 on Analog or Pulse RC radio COANA mones high current output for driving one DC motor Fitting a very e Auto switch between RS232 12V levels or non inverted compact 70x70m board and designed for maximal ease of use TTL levels Analog or Pulse based on user defined priority it is delivered with all necessary cables and hardware and is e Input for direct connection to Spektrum digital RC radios ready to use in minutes e Built in high power power drivers for one DC motor at up to 40A 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 e Full forward amp reverse control Four quadrant operation Supports regeneration or Position modes The SDC1130 features several Analog e Operates from a single 10V 30V power source Pulse and Digital I Os which can be remapped as command or e Programmable current limit up to 40A for protecting con feedback inputs limit switches or many other functions troller motors wiring and battery e Upto 4 Analog Inputs for use as command and or feed Numerous safety features are2. Analog Input Range Ground to Input pins 5 1 Volts Analog Input Precision Ground to Input pins 0 5 Analog Input Resolution Ground to Input pins 1 mV Pulse durations Pulse inputs 20 000 10 us Pulse repeat rate Pulse inputs 50 250 Hz Pulse Capture Resolution Pulse inputs 1 us Frequency Capture Pulse inputs 100 10 000 Hz Encoder count Internal 2 147 2 147 10 9 Counts Encoder frequency Encoder input pins 1M 1 Counts s Note1 Encoder input requires Pulse capture to be disabled on inputs RC1 RC2 RC3 and RC4 SDC1130 Motor Controller Datasheet Version 1 2 December 6 2011 IRo b oteQ Electrical Specifications 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 32 kHz Closed Loop update rate Internal 200 Hz RS232 baud rate Rx amp Tx pins 115 200 2 Bits s RS232 Watchdog timeout Rx pin 1 3 65 000 ms Note 1 May be adjusted with configuration program Note 2 115 200 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 Boolean Variables Internal 1024 Symbols Execution Speed
3. incorporated into the controller Baek 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 e Upto 5 Pulse Length Duty Cycle or Frequency Inputs for use as command and or feedback with the latest features by downloading new operating soft e Up to 6 Digital Inputs for use as Deadman Switch Limit ware from Robotedq Switch Emergency stop or user inputs e Quadrature Encoder input with 32 bit counter Applications ct e Built in programming language for automatic operation e Industrial Automation and or customized functionality e Fan amp Pump Control e 2 general purpose 24V 1A output for brake release or e Winch amp Cranes accessories e Machine control 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 Animatronics e Open loop or closed loop speed control operation e Robotic actuators e Automatic Guided Vehicles e Terrestrial and Underwater Robotic Vehicles e Telepresence Systems e Closed loop position control with analog or pulse fre quency feedback SDC1130 Motor Controller Datasheet 1 lRoboteQ e Precise speed and position control when Encoder feed back is used e PID con
4. 30 Motor Controller Datasheet Version 1 2 December 6 2011
5. 32 Ground TxOut RxIn Brake SDC1130 Motor Controller Datasheet lRoboteQ 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 BEBE lide Waiting for Command BEEEREEEEEEEEEEEM RS232 Mode BEER RC Pulse Mode BEER Analog Mode FIGURE 13 Normal Operation Flashing Patterns EEEEEEREEEEEEEEEM Short Detected BEEEREEREEEEEEEEEE Overheat BEER EEEREEEEEEEEE Under or Over Voltage BERBER Power Stage Off FIGURE 14 Exception or Fault Flashing Patterns Additional status information may be obtained by monitoring the controller with the PC utility 6 SDC1130 Motor Controller Datasheet Version 1 2 December 6 2011 IRo b oteQ Electrical Specifications 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 Min Typ Max Units Battery Leads Voltage Ground to VBat 10 35 Volts Reverse Voltage on Battery Leads Ground to VBat 1 Volts Motor Leads Voltage Ground to M M 35 Volts Digital Output Voltage Ground to Output pins 30 Volts Analog and Digital Inputs Voltage Ground to any signal pin on 15 pin connectors 15 Volts RS232 I O pi
6. 6 2011 IRoboteQ Power Wires Identifications and Connection Power Wires Identifications and Connection Power connections are made through a 6 position screw terminal Battery and Motor Connections baoqog M1 M1 VMot GND M2 M2 Rel N DC1100 v1 4 1104 o P4 GND sees on j J2 A Spektrum PwrCtrl e Radio Connector amp 86 XAKEA a 15 eeee0e Je e 10 Connector FIGURE 8 Controller layout 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 Cut off Switch Ground Ground 1 0 Connector Note 5 Do not Connect FIGURE 9 Powering the controller Thick lines identify MANDATORY connections M1 M1 M2 M2 OO0O000O FIGURE 10 SDC1130 motor wiring detail SDC1130 Motor Controller Datasheet 3 RoboteQ Important Warning Carefully follow the wiring Instructions provided in the Read Me First sheet that comes with the control ler or in the Power Connection section of 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
7. CRadio Encoder 1 12 RC3 ANAS DIN3 Unused 4 SDC1130 Motor Controller Datasheet Version 1 2 December 6 2011 RoboteQ Sensor and Commands Connection TABLE 4 Connector Pin Power Dout Com RC Ana Dinput Enc Default Config 5 GND 13 GND 6 TTL TxD SCLI TTL Serial TxD 14 5VOut 7 TTL RxD SDAI TTL Serial RxD 15 DING Unused 8 RC2 ANA2 DIN2 ENCB 2 Encoder 1 Note 1 Pin assignment for this signal may differ from other Roboteq controller models Note 2 Encoder input requires RC inputs 1 2 3 and 4 to be disabled Encoder is disabled in factory default 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 two analog potentiometers an RC radio and the RS232 port It also shows how to connect the two outputs to motor brake solenoids 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 order 1 RS232 2 RC Pulse 3 Analog If needed use the Robo run PC Utility to change the pin assignments and the command priority order FIGURE 12 Factory default pins assignment RS2
8. Internal 15 000 30 000 Lines s Note 1 32 bit words Thermal Specifications TABLE 10 Parameter Measure 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 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 The SDC1130 uses a conduction plate at the bottom of the board for heat extraction For best results attach firmly 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 SDC1130 Motor Controller Datasheet 9 RoboteQ Mechanical Specifications TABLE 11 Parameter Measure Point Min Typ Max Units Weight Board 100 3 5 g 0z Power Wire Gauge Terminal strip 12 AWG NIE 1 oO 2 0 16 4 1mm FIGURE 15 SDC1130 front view and dimensions TO A of pae gt SE ort E JEPTE 3g 8 9 O le igs PR po E IE 2e i amp 3E 788 e Iio ao mM g J 62 2mm FIGURE 16 SDC1130 top view and dimensions 10 SDC11
9. The controller must be powered On Off using switch SW1on the Power Control Header The battery must be connected in permanence to the controller s VMot power via an input emergency switch SW2 as additional safety measure Precautions and Optional Connections Note1 Optional backup battery to ensure motor operation with weak or discharged battery Note2 Use precharge 1K Resistor to prevent switch arcing Note3 Insert a high current diode to ensure a return path to the battery during regeneration in case the fuse is blown Note4 Optionally ground the VBat 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 35V Note5 Beware not to create a path from the ground pins on the I O connector and the battery s minus terminal 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 oo0oo0oo0o0o00 15 9 FIGURE 11 Connector pin locations TABLE 4 Connector Pin Power Dout Com RC Ana Dinput Enc Default Config 1 DOUT1 Motor Brake 9 DOUT2 Unused 2 TxOut RS232Tx 10 RC5 ANA1 1 DIN5 AnaCmd 3 RxIn RS232Rx 11 RC4 ANA4 DIN4 Unused 4 RC1 DIN1 ENCA 2 R
10. ns Voltage External voltage applied to Rx Tx pins 15 Volts Board Temperature Board 40 85 oC Humidity Board 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 Min Typ Max Units Battery Leads Voltage Ground to VBat 10 1 35 Volts Motor Leads Voltage Ground to M M 0 1 35 2 Volts Over Voltage protection range Ground to VBat 5 30 4 35 2 Volts Under Voltage protection range Ground to VBat 0 5 4 35 Volts Idle Current Consumption VBat or Pwr Ctrl wires 50 75 5 100 mA ON Resistance Excluding wire resistance VBat to M plus M to 10 mOhm Ground at 100 power Max Current for 30s Motor current 40 Amps Continuous Max Current Motor current 20 6 Amps Current Limit range Motor current 1 30 7 40 Amps Stall Detection Amps range Motor current 1 30 7 40 Amps Stall Detection timeout range Motor current 1 500 8 65000 milliseconds Motor Acceleration Deceleration range Motor current 100 500 9 65000 milliseconds 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 vol
11. tage must be present on VBat or Power Control wire Note 4 Factory default value Adjustable in 0 1V increments Note 5 Current consumption is lower when higher voltage is applied to the controller s VBat or PwrCtrl wires Note 6 Estimate Limited by heatsink temperature Current may be higher with better cooling Note 7 Factory default value Adjustable in 0 1A increments Note 8 Factory default value Time in ms that Stall current must be exceeded for detection Note 9 Factory default value Time in ms for power to go from 0 to 100 SDC1130 Motor Controller Datasheet 7 IRoboteQ 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 Command I O and Sensor Signals Specifications TABLE 7 Parameter Measure point Min Typ Max Units Main 5V Output Voltage Ground to 5V pins on DSub15 46 4 75 49 Volts 5V Output Current 5V pin on DSub15 100 mA Digital Output Voltage Ground to Output pins 30 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 15 Volts
12. trol loop e Configurable Data Logging of operating parameters on RS232 Output for telemetry or analysis e Built in Battery Voltage and Temperature sensors 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 5 mOhm ON resistance MOSFETs e Stall detection and selectable triggered action if Amps is outside userselected range e 10 to 32kHz user programmable Pulse Width Modulation PWM output 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 Orderable Product References Power wiring via terminal strip wires up to AWG12 2 76 70mm L 2 76 W 70mm 0 78 20mm H 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 DC1130 1 30 2 SDC1130 Motor Controller Datasheet Version 1 2 December
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