Data Sheet

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FIM2360 Motor Controller Datasheet 1

FIM2360

Roboteq’s FIM2360 is a features-packed, high-current, dual

or single channel controller for AC Induction motors. The

controller can operate in one of several modes in order to

sense the rotor position and sequence power on the motors’

3 windings in order to generate smooth continuous rotation.

The controller also uses the Encoder information to compute

speed and mea- sure travelled distance inside a 32-bit counter.

The motors may be operated in open or closed loop speed or

torque modes.The FIM2360 features several Analog, Pulse

and Digital I/Os which can be remapped as command or

feedback inputs, limit switches, or many other functions. The

FIM2360 accepts com- mands received from an RC radio,

Analog Joystick, wireless modem, or microcomputer. For

mobile robot applications, the controller’s two motor channels

can either be operated inde- pendently or mixed to move and

steer a vehicle. Using CAN bus, up to 127 controllers can be

networked at up to 1Mbit/s on a single twisted pair.

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 conﬁgured,

monitored and tuned in realtime using a Roboteq’s free PC

utility. The control- ler can also be reprogrammed in the ﬁeld

with the latest fea- tures by downloading new operating

software from Roboteq.

Applications

• Automatic Guided Vehicles

• Small Electric Vehicles, Electric Bikes

• Terrestrial and Underwater Robotic Vehicles

• Police and Military Robots

• Hazardous Material Handling Robots

• Animatronics

Key Features

• USB, Serial, 0-5V Analog, or Pulse (RC radio) command modes

• One RS232 serial port

• CAN bus interface up to 1Mbit/s with multiple protocol

support

• RS485 interface

• Auto switch between Serial, USB, CAN, Analog, or Pulse

based on user-deﬁned priority

• Built-in dual 3-phase high-power drivers for two AC Induc-

tion motors at up to 60A

• Output channels can be paralleled in order to drive a

single motor at up to 120A

• Field Oriented Control

• Multiple Motor Operating mode

- Open Loop Volts per Hertz

- Fixed Slip Control

- FOC Torque Mode

- FOC Speed Mode

• Support for quadrature encoder

• Full forward & reverse motor control. Four quadrant oper-

ation. Supports regeneration

• Operates from a single 10V-60V power source

• Programmable current limit up to 60A (120A on single

channel version) per motor for protecting controller,

motor, wiring and battery.

• Separate connector for Hall Sensors

• Accurate speed and Odometry measurement using

Encoder data

• Up to 8 Analog Inputs for use as command and/or feed-back

• Up to 8 Pulse Length, Duty Cycle or Frequency Inputs for

use as command and/or feedback

Advanced Features

2 x 60A or 1 x 120A

Variable Frequency Drive

for AC Induction Motors

Summary of content (13 pages)

PAGE 1
FIM2360 Advanced Features 2 x 60A or 1 x 120A Variable Frequency Drive for AC Induction Motors Roboteq’s FIM2360 is a features-packed, high-current, dual or single channel controller for AC Induction motors. The controller can operate in one of several modes in order to sense the rotor position and sequence power on the motors’ 3 windings in order to generate smooth continuous rotation.
PAGE 2
• Up to 10 Digital Inputs for use as Deadman Switch, Limit Switch, Emergency stop or user inputs • Inputs for up to 3 Quadrature Encoders • • • Overvoltage and Undervoltage protection • Watchdog for automatic motor shutdown in case of command loss 4 general purpose 24V, 1.
PAGE 3
Power Wires Identifications and Connection Important Safety Disclaimer Dangerous uncontrolled 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.
PAGE 4
F2 1A SW1 Main On/Off Switch 1A PwrCtrl Note 1 U1 U1 Ground Motor1 Backup Battery V1 Diode >20A Encoder 1 N o te 2 VMot F1 Note 4 A1/B1/ GND/+5V A2/B2/ Encoder Connector SW2 Emergency Contactor or Cut-off Switch Encoder 2 W2 V2 + W1 W1 Resistor 1K, 0.5W N o te 3 V1 Ground - Note 6 Do not Connect! W2 Motor2 I/O Connector Main Battery V2 U2 U2 Note 5 FIGURE 3. Powering the controller.
PAGE 5
Single Channel Wiring Precautions and Optional Connections Note 1: Backup battery to ensure motor operation with weak or discharged batteries, connect a second battery to the Power Control wire/terminal via the SW1 switch. Note 2: Use precharge 1K, 0.5W 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.
PAGE 6
Use of Safety Contactor for Critical 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 1A SW1 Main On/Off Switch 1A PwrCtrl Ground Resistor 1K, 0.5W Diode >20A F1 VMot Digital Out to +40V Max I/O Connector + Ground Main Battery FIGURE 5.
PAGE 7
Commands and I/O Connections Each input includes a 4.7K pull up resistor and can therefore accommodate encoders with open collector/open drain outputs. A 1nF capacitor to ground is present on each input for noise reduction. TABLE 1. Pin Number 1 3 4 5 Row Ch1 5V 2 Enc1 B Enc1 A Ground Row Ch2 5V Enc2 B Enc2 A Ground Commands and I/O Connections Connection to RC Radio, Microcomputer, Joystick and other low current sensors and actuators is done via the 25 connector.
PAGE 8
TABLE 2. Connector Pin Power 25 5VOut 13 Dout Com Pulse Ana Dinput Default Config GND Note 1: Analog command is disabled in factory default configuration. Default I/O Configuration While 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.
PAGE 9
Electrical Specifications 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 and color provides operating or exception status information. FIGURE 9. Normal Operation Flashing Patterns FIGURE 10. Exception or Fault Flashing Patterns Additional status information may be obtained by monitoring the controller with the PC utility.
PAGE 10
Power Stage Electrical Specifications (at 25ºC ambient) TABLE 4.
PAGE 11
Electrical Specifications Command, I/O and Sensor Signals Specifications TABLE 5. Parameter Measure point Min Typical Max Units Main 5V Output Voltage Ground to 5V pins on 4.6 4.75 4.9 Volts 5V Output Current 5V pins on RJ45 and DSub15 200 (1) mA Encoder Resolution Encoder inputs 128 PPR Digital Output Voltage Ground to Output pins 128 Volts Output On resistance Output pin to ground 0.5 Ohm Output Short circuit threshold Output pin 3.
PAGE 12
TABLE 7. Parameter Measure Point Min Typical Execution Speed Internal 50 000 100 000 Max Units Lines/s Note 1: 32-bit words Thermal Specifications TABLE 8. Parameter Measure Point Min Case Temperature Case Thermal Protection range Case Power Dissipation Typical Max Units -40 85 (1) ºC 80 90 (2) ºC Case 70 Watts Thermal resistance Power MOSFETs to case 0.
PAGE 13
Electrical Specifications 5.50" (139.7mm) 5.00" (127.0mm) 5.50" (139 .7mm) 0.24" (6.0mm) 1.25" (31.8mm) 3.00" (76.2mm) FIGURE 12. FIM2360 top view and dimensions FIGURE 2.