User Manual

Connecting Power and Motors to the Controller
26 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
• Do not connect a wire between the I/O connector ground pins and the battery mi-
nus terminal. Look for hidden connection and eliminate them.
• Have a very firm and secure connection of the controller ground wire and the bat-
tery minus terminal.
• Do not use connectors or switches on the power ground cables.
Important Warning
Do not rely on cutting power to the controller for it to turn Off if the Power Control
is left floating. If motors are spinning because the robot is pushed or because of
inertia, they will act as generators and will turn the controller On, possibly in an un-
safe state. ALWAYS ground the Power Control wire terminal to turn the controller Off
and keep it Off.
Important Warning
Unless you can ensure a steady voltage that is higher than 7V (28V in controllers
rated above 60V) in all conditions, it is recommended that the battery used to pow-
er the controller’s electronics be separate from the one used to power the motors.
This is because it is very likely that the motor batteries will be subject to very large
current loads which may cause the voltage to eventually dip below 7V as the bat-
teries’ charge drops. The separate backup power supply should be connected to the
Power Control input.
Connecting the Motors
Refer to the datasheet for information on how to wire the motor(s) to a particular motor
controller model.
After connecting the motors, apply a minimal amount of power using the Roborun PC util-
ity with the controller configured in Open Loop speed mode. Verify that the motor spins
in the desired direction. Immediately stop and swap the motor wires if not.
In Closed Loop Speed or Position mode, beware that the motor polarity must match this
of the feedback. If it does not, the motors will runaway with no possibility to stop other
than switching Off the power. The polarity of the Motor or of the feedback device may
need to be changed.
Important Warning
Make sure that your motors have their wires isolated from the motor casing. Some
motors, particularly automotive parts, use only one wire, with the other connected
to the motor’s frame. If you are using this type of motor, make sure that it is mount-
ed on isolators and that its casing will not cause a short circuit with other motors
and circuits which may also be inadvertently connected to the same metal chassis.