Data Sheet

ManualsBrandsRoboteQ ManualsBrushed DC Motor ControllersRGDC1896 96V 1x200A Brushed DC Motor Controller

RGDC18xx Motor Controller Datasheet 1

RGDC18xx

Roboteq’s RGDC18xx is a very high current, feature-packed

motor controller for Brushed DC motors. The controller fea-

tures a high-performance 32-bit microcomputer and several

quadrature encoder inputs to operate in open or closed loop

speed mode, position mode or in torque mode. The RGDC18xx

features several Analog, Digital and Pulse I/Os which can be

remapped as command or feedback inputs, limit switches, or

many other functions.

The RGDC18xx accepts commands received from an RC radio,

Analog potentiometer, wireless modem, PLC, or microcom-

puter. Using CAN bus, as many as 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 a built-in simple programming language. The

controller can be conﬁgured, monitored and tuned in real-time

using a Roboteq’s free PC utility. The controller can also be

reprogrammed in the ﬁeld with the latest features by down-

loading new operating software from Roboteq.

Applications

• Electric vehicles

• Personnel carriers

• Golf cars

• Materials handling equipment

• Electric boats

• Automatic Guided Vehicles

• Agricultural robots

• Warehouse automation

• Forklifts

Features List

• 0-5V Analog, RS232 or TTL Serial, RS485 or Pulse (RC

radio) command modes

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

support

• Auto switch between serial, Analog, or Pulse based on

user-deﬁned priority

• Built-in high-power drivers for one brushless DC motor at

up to 300A

• Full for ward & reverse control. Four quadrant operation.

Supports regeneration

• Operates from a single power source

• Programmable current limit up to 300A for protecting

controller, motors, wiring and battery

• Accurate speed and Odometry measurement using Hall

Sensor or encoder data

• Up to 12 Analog Input for use as command and/or

feedback

• Up to 8 Pulse Width, 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

• Three Quadrature Encoder input with 32-bit counters

• Built-in Programming language for automatic operation

and/or customized functionality

• Six general purpose 1A output for brake release or acces-

sories. Two outputs PWM-capable

• Selectable min, max, center and deadband in Pulse and

Analog modes

• Selectable exponentiation factors for each command inputs

• Trigger action if Analog, Pulse or Encoder capture are

outside user selectable range (soft limit switches)

300A, 60/96V

Single Channel

Brushed DC Motor

Controller

Preliminary -

Subject to Change

Summary of content (11 pages)

PAGE 1
RGDC18xx 300A, 60/96V Single Channel Brushed DC Motor Controller Preliminary Subject to Change Roboteq’s RGDC18xx is a very high current, feature-packed motor controller for Brushed DC motors. The controller features a high-performance 32-bit microcomputer and several quadrature encoder inputs to operate in open or closed loop speed mode, position mode or in torque mode.
PAGE 2
•• •• •• •• •• •• •• •• •• •• •• •• Open loop or closed loop speed control operation Closed loop position control with encoder, hall sensors, analog or pulse/frequency feedback Precise speed and position control when Encoder feedback is used Torque mode PID control loop Configurable Data Logging of operating parameters on Serial Output for telemetry or analysis Built-in Battery Voltage and Temperature sensors Regulated 5V output for powering Encoders, RC radio, RF Modem or microcomputer Programmable accele
PAGE 3
Power Terminals Identifications and Connection Warning: Properly identify PowerControl pin 25 before applying high voltage to it FIGURE 1. Top Controller Layout Figure 2, below, shows how to wire the controller and how to turn power On and Off. Resistor 1K, 0.5W Note 3 Emergency Disconnect B+ Motor U + Note 4 Do not Connect! - OFF Sensors Power Control GND Note 1 W B- Encoder Main On/Off Switch ON Note 2 + Main Battery 1A Optional Backup Battery - FIGURE 2. Powering the Controller.
PAGE 4
Important Warning Carefully follow the wiring instructions provided 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 Figure 2, above, in order to ensure a safe and trouble-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 input.
PAGE 5
Sensor and Commands Connection TABLE 1. Connector pin Wire Color Power 1 Red +V5 2 White ENC3A Unused 3 Green ENC3B Unused 4 Blue ANA11 Unused 5 Orange ANA12 Unused 6 Brown DOUT5 Digital output 7 Yellow DOUT6 Digital output 8 Black Ana Encoder Default Configuration DOUT GND 13 1 14 Power Control - pin 25 FIGURE 4. Main Connector Pin Locations TABLE 2.
PAGE 6
For use in environments where liquid particles or fine dust may be present, the controller’s cover is shaped for DSub connectors with waterproof hoods, as shown in Figure 5. Product references EDAC 627-230-025-010, CONEC 165X14839X or Assmann A-DS25-HOOD-WP. FIGURE 5. DSub Connector with Waterproof Hood Enabling Analog Commands For safety reasons, the Analog command mode is disabled by default.
PAGE 7
Battery Backed Clock and RAM 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 two second interval.Idle The -flashing pattern provides operating or exception staWaiting for Command tus information, as shown in Figures 7, 8, and 9: RS232/USB Mode Idle - Waiting for Command RC Pulse Mode RS232/USB Mode Analog Mode RC Pulse Mode Analog Mode FIGURE 7.
PAGE 8
Measured Amps Including Amps sensors on the wires allows for a fast and efficient feed of information. The controller has separate built in sensor for measuring the battery amps and the motor amps. Both motor amps and battery amps are measured in real time. Electrical Specifications Absolute Maximum Values The values in the table below should never be exceeded, Permanent damage to the controller may result. TABLE 3.
PAGE 9
Electrical Specifications TABLE 5. Parameter Measure point Model ON Resistance (Excluding wire resistance) VBat to A/B/C , plus A/B/C to Ground All Max Current for 30s Motor current RGDC1860 300 Amps RGDC1896 300 Amps Continuous Max Current Motor current RGDC1860 300 (6) Amps RGDC1896 200 (6) Amps Current Limit range Motor Acceleration/Deceleration range Motor current Motor current Min Typical Max 0.
PAGE 10
Operating and Timing Specifications TABLE 7. Parameter Measure Point Min Typical Max Units Command Latency Command to output change 0 1 2 ms PWM Frequency Motor outputs 10 16 20 kHz Closed Loop update rate Internal 1000 Hz Serial baud rate Rx & Tx pins 115200 (1) Bits/s Serial Watchdog timeout Rx pin 1 (2) 65000 ms Note 1: 115200, 8-bit, no parity, 1 stop bit, no flow control Note 2: May be disabled with value 0 Scripting TABLE 8.
PAGE 11
Electrical Specifications 140 70 200 FIGURE 10. RGDC18xx Top View and Dimensions 57 51 25 200 FIGURE 11.