Data Sheet

ManualsBrandsRoboteQ ManualsBrushed DC Motor ControllersSBL1360A 60V 1x20A Brushless DC Motor Controller

SBL13xx Motor Controller Datasheet 1

SBL13xx

Roboteq’s SBL13xx is a high-current controller for hall-sensor

equipped Brushless DC motors. The controller uses the

posi tion information from the sensors to sequence power

on the motor’s three windings in order to generate smooth

continuous rotation. The controller also uses the Hall sensor

or encoder input information to compute speed and measure

traveled dis tance inside a 32-bit counter. The motor may be

operated in open or closed loop speed mode. Using low-cost

position sen sors, they may also be set to operate as heavy-

duty position servos.

The SBL13xx accepts commands received from an RC radio,

Analog Joystick, wireless modem, or microcomputer. Using

CAN bus, up to 127 controllers can be networked on a single

twisted pair cable. 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 Language scripts. 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

downloading new operating software from Roboteq.

Applications

• Electric Bikes

• Machine Control

• Terrestrial and Underwater Robotic Vehicles

• Automatic Guided Vehicles

• Police and Military Robots

• Hazardous Material Handling Robots

• Telepresence Systems

• Animatronics

• Industrial Controls

• Hydraulic Pumps control

Key Features

• RS232, 0-5V Analog, or Pulse (RC radio) command modes

• Available in version with CAN bus up to 1 Mbit/s

• Auto switch between RS232, Analog, or Pulse based on

user-deﬁned priority

• Built-in 3-phase high-power drivers for one brushless DC

motor at up to 30A

• Trapezoidal switching based on Hall Sensor position

information

• Trapezoidal Sensorless (A-version)

• Smooth and quiet three Phase sinusoidal mode (A-version)

• Support for absolute angle encoders (A-version)

- sin/cos analog

- Resolver

• Field Oriented Control in Sinusoidal modes

• Full forward & reverse motor control. Four quadrant

opera tion. Supports regeneration

• Operates from a single power source

• Programmable current limit up to 30A for protecting con-

troller, motor, wiring and battery.

• Connector for Hall Sensors

• Accurate speed and Odometry measurement using Hall

Sensor or encoder data

• Quadrature encoder input with 32-bit counter

• Up to six Analog Inputs for use as command and/or feedback

• Up to six Pulse Length, Duty Cycle or Frequency Inputs

for use as command and/or feedback

• Up to six Digital Inputs for use as Deadman Switch, Limit

Switch, Emergency stop or user inputs

• Two general purpose 40V, 1.5A output for brake release

or accessories

• Custom scripting in Basic language. Execution speed

50000 lines per second

30A

Forward/Reverse

Brushless DC Motor

Controller with

Hall and Encoder

Inputs, USB and CAN

Summary of content (14 pages)

PAGE 1
SBL13xx 30A Forward/Reverse Brushless DC Motor Controller with Hall and Encoder Inputs, USB and CAN Roboteq’s SBL13xx is a high-current controller for hall-sensor equipped Brushless DC motors. The controller uses the position information from the sensors to sequence power on the motor’s three windings in order to generate smooth continuous rotation. The controller also uses the Hall sensor or encoder input information to compute speed and measure traveled distance inside a 32-bit counter.
PAGE 2
• • • • • • • • • • • • • Selectable min/max, center and deadband in Pulse and Analog modes Selectable exponentiation factors for each command inputs Trigger action if Analog, Pulse, Encoder or Hall counter capture are outside user selectable range (soft limit switches) Open loop or closed loop speed control operation Closed loop position control with encoder, analog or pulse/ frequency feedback PID control loop Configurable Data Logging of operating parameters on RS232 Output for telemetry or analysis Bu
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 their system safe in all conditions.
PAGE 4
Figure 2, below, shows how to wire the controller and how to turn power On and Off. F2 1A SW1 Main On/Off Switch 1A PwrCtrl Note 1 U U Ground Motor Backup Battery V Diode >20A Resistor 1K, 0.5W Note 3 W W Note 2 VMot F1 Note 4 + V Hall Sensors Hall sensor Connector HA/HB/HC GND/+5V SW2 Emergency Contactor or Cut-off Switch Ground - I/O Connector Main Battery Note 5 Do not Connect! FIGURE 2. Powering the Controller.
PAGE 5
Controller Mounting 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 to +40V Max VMot Digital Out I/O Connector + - Ground Main Battery FIGURE 3.
PAGE 6
Hall Sensors Connection Connection to the Hall Sensors is done using a special connector on the right side of the controller. The Hall sensor connector is a 5-pin JST PH, model PHR-5. Pin assignments are in Table 1, below. GND Hall A Hall B Hall C 5V FIGURE 4. Connector Wiring Diagram TABLE 1. Pin Number 1 2 3 4 5 Signal 5V 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.
PAGE 7
Commands and I/O Connections The table below shows the signals assignment on the 15-pin connector. TABLE 2. Signal Pin Number Pin Name Sin 10 ANA5/ASIN Cos 15 ANA6/ACOS Connecting Resolver (A-version) Resolver wiring is similar to a Sin/Cos sensor with the addition of an excitation signal. Diagram below shows the necessary connections. Secondary 1 ASIN Primary EXC Secondary 2 ACOS GND FIGURE 6.
PAGE 8
TABLE 3. Connector Pin Power Dout Com 4 12 5 RC Ana Dinput Enc Default Config PIN1 ANA1 DIN1 ENCA (2) RCRadio1 PIN3 ANA3 DIN3 Unused GND 13 GND 6 14 CANL CAN Low CANH CAN High 5VOut 7 15 8 PIN6(5) ANA6/ACOS(1) DIN6 PIN2 ANA2 DIN2 ENCB (2) Unused Note 1: ASIN, ACOS and EXC are only available on SBL13xxA Note 2: Encoder input requires Pulse inputs 1 and 2 to be disabled. Pulse inputs are enabled in factory default.
PAGE 9
Status LED Flashing Patterns CAN Bus Operation The controller can interface to a standard CAN Bus network, using 4 possible protocols: Standard CANOpen, and three proprietary schemes (MiniCAN, RawCAN and RoboCAN). Please refer to the User Manual for details. USB and CAN can operate at the same time only on the SBL1xxxA. On the SBL1xxx, the controller starts up with CAN available, but CAN will be disabled as soon as the controller is plugged into USB.
PAGE 10
Electrical Specifications Absolute Maximum Values The values in Table 4, below, should never be exceeded. Permanent damage to the controller can occur. TABLE 4.
PAGE 11
Electrical Specifications TABLE 5. Parameter Measure point Min Typical Short Circuit Detection threshold (10) Between Motor wires or Between Motor wires and Ground 100 (11) Short Circuit Detection threshold Between Motor wires and VMot No Protection. Permanent damage will result Motor Acceleration/ Deceleration range Motor Output 100 500 (12) Max Units 200 (11) Amps 65000 milliseconds Note 1: Negative voltage will cause a large surge current.
PAGE 12
Command, I/O and Sensor Signals Specifications TABLE 6. Parameter Measure point Min Typical Max Units Pulse durations Pulse inputs 20000 10 us Pulse repeat rate Pulse inputs 50 250 Hz Pulse Capture Resolution Pulse inputs Frequency Capture Pulse inputs 100 2000 Hz Encoder count Internal -2.147 2.147 10^9 Counts Encoder frequency Encoder input pins 1M(1) Counts/s 1 us Note1: Encoders are disabled in factory default. Operating & Timing Specifications TABLE 7.
PAGE 13
Electrical Specifications Thermal Specifications TABLE 9. Parameter Measure Point Min Board Temperature PCB Thermal Protection range PCB Thermal resistance Power MOSFETs to heats sink Typical Max Units -40 85 (1) ºC 70 80 (2) ºC 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 SBL13xx uses a conduction plate at the bottom of the board for heat extraction.
PAGE 14
0,519 " 13.2mm 2,76 " 70mm 2,45 " 62.2mm 1,54 " 39.1mm 0.98” 25mm 1,645 " 41.78mm 0,58 " 14.73mm 2,76 " 70mm 2,45 " 62.2mm FIGURE 13. SBL13xx Top View and Dimensions 14 SBL13xx Motor Controller Datasheet Version 1.