Data Sheet

ManualsBrandsRoboteQ ManualsMotor ControllersRoboteQ GBL2660S 60V 1x360A Brushless DC Motor Controller

GBL2xxx Motor Controller Datasheet 1

GBL2xxx

Roboteq’s GBL26xx is a feature-packed, high-current, dual or

single channel controller for brushless Permanent Magnets AC

or DC Synchronous motors. The controller also uses the Hall

sensor and/or most types of Encoders to capture the Rotor

position and measure traveled distance. The motors may be

operated in open or closed loop speed mode, position mode

or in torque mode. The GBL26xx features several Analog,

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

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

The GBL26xx accepts commands received from an RC radio,

Analog Joystick, wireless modem, or microcomputer. For

mobile robot applications, the controller’s two motor chan-

nels can either be operated independently 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. An

optional Ethernet port with PC allows the connection to PLCs

and TCP/IP networks.

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 real-time 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

• Balancing Robots

• Telepresence Systems

• Animatronics

Key Features

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

modes

• One serial port

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

support

• RS485 Optional Ethernet interface

• Optional 10/100 Ethernet

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

based on user-deﬁned priority

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

DC motor at up to 180A

• Output channels can be paralleled in order to drive a

single motor at up to 360A

• Multiple Motor Operating mode

- Trapezoidal with Hall Sensors

- Trapezoidal Sensorless

- Sinusoidal with Incremental Encoder

- Sinusoidal with SSI Encoder

- Sinusoidal with Resolver

- Sinusoidal with Hall Sensors

- Sinusoidal with Sin/Cos Encoder

• Field Oriented Control in Sinusoidal modes

• Full forward & reverse motor control. Four quadrant

opera tion. Supports regeneration

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

• Programmable current limit up to 180A (360A on single

channel version) per motor for protecting controller,

motor, wiring and battery.

• Separate connector for Hall Sensors

• Accurate speed and Odometry measurement using Hall

Sensor or Encoder data

High Power 2 x 180A

or 1 x 360A Brushless

DC Motor Controller

with USB, CAN and

Ethernet

Summary of content (17 pages)

PAGE 1
GBL2xxx High Power 2 x 180A or 1 x 360A Brushless DC Motor Controller with USB, CAN and Ethernet Roboteq’s GBL26xx is a feature-packed, high-current, dual or single channel controller for brushless Permanent Magnets AC or DC Synchronous motors. The controller also uses the Hall sensor and/or most types of Encoders to capture the Rotor position and measure traveled distance. The motors may be operated in open or closed loop speed mode, position mode or in torque mode.
PAGE 2
• • • • • • • • • • • • • • • • • Up to eight Analog Inputs for use as command and/or feed back Up to eight Pulse Length, Duty Cycle or Frequency Inputs for use as command and/or feedback Up to 10 Digital Inputs for use as Deadman Switch, Limit Switch, Emergency stop or user inputs Inputs for up to 3 Quadrature Encoders 4 general purpose 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
Controller Power F2 1A SW1 M ain On/Off Sw itch 1A PwrCtrl Note 1 U1 U1 Ground Motor1 Backup Battery V1 Diode >20A W1 W1 Resistor 1K, 0.5W Note 3 V1 Hall Sensors1 Note 2 F1 Note 4 VMot Hall sensor Connector Hall Sensors2 SW2 Emergency Contactor or Cut-off Switch W2 V2 + M ain Battery Ground W2 Motor2 I/O Connector Note 6 Do not Connect! V2 U2 U2 Note 5 FIGURE 2. Powering the Controller.
PAGE 5
Use of Safety Contactor for Critical Applications 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 tabs when the controller is Off if there is any concern that the motors could be made to spin and generate voltage in excess of 60V.
PAGE 6
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 4. 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 1A or more is measured for more than 0.5s.
PAGE 7
Connection to SSI Absolute Encoder TABLE 1. Pin Number 1 Signal 5V 2 3 4 5 6 Hall C Hall B Hall A Ground Hall Sensor vs Motor Output sequencing The controller requires the Hall sensors inside the motor to be 120 degrees apart. The controller’s 3-phase bridge will activate each of the motor winding according to the sequence shown in the Figure 6, below.
PAGE 8
Connection to Analog Sin/Cos Absolute Encoder The GBL2660 has 4 high-speed analog inputs that can be used to capture absolute angle position from resolvers or magnetic sensors with sin/cos voltage outputs. The signal must be 0-5V max with the 0 at 2.500V. Table 3, below, shows the signals assignment on the 25-pin connector. TABLE 3.
PAGE 9
Commands and I/O Connections Commands and I/O Connections Connection to RC Radio, Microcomputer, Joystick and other low current sensors and actuators is done via the 25 connector. The functions of many pins vary depending on controller model and user configuration. Pin assignments are found in Table 5, below. FIGURE 9. Main Connector Pin Locations TABLE 5.
PAGE 10
TABLE 5. Connector Pin Pulse Ana Dinput Enc Default Config 24 RC7 ANA7/ ASIN2 DIN7 ENC1A Unused 12 RC8 ANA8/ ACOS2 DIN8 ENC1B Unused Power 25 PwrCtrl 13 GND Dout Com Note 1: Analog command is disabled in factory default configuration.
PAGE 11
Status LED Flashing Patterns USB communication Use USB only for configuration, monitoring and troubleshooting. USB is not a reliable communication method when used in a electrically noisy environments and communication will not always recover after it is lost without unplugging and replugging the connector, or restarting the controller. Always prefer RS232 communication when interfacing to a computer. USB and CAN can operate at the same time on the GBL2660.
PAGE 12
FIGURE 11. Normal Operation Flashing Patterns FIGURE 12. Exception or Fault Flashing Patterns Additional status information may be obtained by monitoring the controller with the PC utility. Battery Backed Clock and Variables The controller includes a real-time clock/calendar and RAM storage for user variables. Both the clock and the RAM storage require a battery to continue running and for the stored data not to be lost while the controller is powered down. The battery is not installed by Roboteq.
PAGE 13
Electrical Specifications TABLE 6.
PAGE 14
TABLE 7. Continuous Max Current per channel Measure point Model Max Units Between Motor wires or Between Motor wires and round GBL2660 500 (10) Amps GBL2660S 1000 (10) Amps Short Circuit Detection threshold Between Motor wires and VBat All No Protection. Permanent damage will result Motor Acceleration/ Deceleration range Motor Output All 100 Short Circuit Detection threshold (9) Min Typ 500 65000 milli(11) seconds Note 1: Negative voltage will cause a large surge current.
PAGE 15
Electrical Specifications TABLE 8. Parameter Measure point Min Frequency Capture Pulse inputs Note 1: Sum of all 5V Out outputs Typ 100 Max Units 1000 Hz Operating & Timing Specifications TABLE 9.
PAGE 16
Mechanical Specifications TABLE 12. 16 Parameter Measure Point Weight Board 2940 (6.5) Power Terminals Terminal M6 GBL2xxx Motor Controller Datasheet Min Typical Max Units g (lbs) Version 1.
PAGE 17
Electrical Specifications GBL2xxx Motor Controller Datasheet 17