Data Sheet

ManualsBrandsRoboteQ ManualsR/C DC ControllersSDC3260 60V 3x15A Brushed DC Motor Controller

SDC3260 Motor Controller Datasheet 1

SDC3260

Roboteq’s SDC3260 is a feature-packed, high-current, triple

channel controller for brushed DC motors. The controller

fea tures a high-performance 32-bit microcomputer and

quadrature encoder inputs to perform advanced motion

control algorithms. The motors can be operated in open or

closed loop speed mode, position mode or in torque mode.

The SDC3260 features several Analog, Pulse and Digital I/Os

which can be remapped as command or feedback inputs, limit

switches, or many other functions. The SDC3260 accepts

com mands received from an RC radio, Analog Joystick,

wireless modem, PLC, or microcomputer. For mobile robotic

applications, two of the controller’s three motor channels

can either be oper ated 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.

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

• Motion simulators

• XYZ platforms

• Underwater Robotic Vehicles

• Stabilization Gimbals

• Machine tools

• Industrial automation

• Telepresence Systems

• Animatronics

Key Features

• USB, RS323, RS485, 0-5V Analog, or Pulse (RC radio)

com mand modes

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

support

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

based on user-deﬁned priority

• Built-in triple high-power drivers for three brushed DC

motor at up to 20A each

• Full forward and reverse motor control. Four quadrant

opera tion. Supports regeneration

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

• Programmable current limit up to 20A per motor for

pro tecting controller, motor, wiring and battery

• Separate connectors for three quadrature encoders

• Up to 8 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

• Four general purpose 24V, 1.5A output for brake release

or accessories

• 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 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

• Torque mode

Advanced Features

Triple Channel 20A

Brushed DC

Motor Controller

with USB and CAN

Summary of content (14 pages)

PAGE 1
SDC3260 Advanced Features Triple Channel 20A Brushed DC Motor Controller with USB and CAN Roboteq’s SDC3260 is a feature-packed, high-current, triple channel controller for brushed DC motors. The controller features a high-performance 32-bit microcomputer and quadrature encoder inputs to perform advanced motion control algorithms. The motors can be operated in open or closed loop speed mode, position mode or in torque mode.
PAGE 2
• • • • • • • • • • • PID control loop Built-in Battery Voltage and Temperature sensors Optional backup power input for powering safely the controller if the main motor batteries are discharged Power Control wire for turning On or Off the controller from external microcomputer or switch No consumption by output stage when motors stopped Regulated 5V output for powering RC radio, RF Modem, sensors or microcomputer Separate Programmable acceleration and deceleration for each motor Ultra-efficient 9.
PAGE 3
Power Wires Identifications and Connection Important Safety Disclaimer A 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
F2 1A SW1 Main On/Off Switch 1A PwrCtrl Note 1 M1+ Ground Motor 1 Backup Battery Diode >10A M1- Resistor 1K, 0.5W Note 3 M2+ Note 2 VMot F1 Note 4 + Motor 2 SW2 Emergency Contactor or Cut-off Switch M2M3+ Ground - Motor 3 I/O Connector Main Battery M3- Note 5 Do not Connect! FIGURE 2. FIGURE 2. Powering the Controller. Thick lines identify MANDATORY connections Important Warning Carefully follow the wiring instructions provided in the Power Connection section of the User Manual.
PAGE 5
Use of Safety Contactor for Critical Applications Note 5: Connect the controller’s bottom plate to a wire connected to the Earth while the charger is plugged in the AC main, or if the controller is powered by an AC power supply. Note 6: Beware not to create a path from the ground pins on the I/O connector and the battery minus terminal.
PAGE 6
Encoder Connection Connection to the Encoders is done using two special connectors on the front side of the controller. The connectors are 6-pin Molex Microfit 3.0, ref. 43645. . Pin assignment are in Table 1. 6 1 6 1 FIGURE 4. Encoder Connector TABLE 1.
PAGE 7
Commands and I/O Connections TABLE 2. Connector Pin 5 Power Dout Com Pulse Ana Dinput GND 18 6 19 7 DOUT1 Motor Brake 1 DOUT2 Motor Brake 2 DOUT3 Contactor DOUT4 Unused 20 CANH 8 Unused CANL 21 Unused RC5 ANA5 9 22 RC6 ANA6 10 23 11 24 12 25 Default Config DIN5 Unused DIN9 Unused DIN6 Unused DIN10 Unused RS485+ RS485 RS485– RS485 RC7 ANA7 DIN7 Unused RC8 ANA8 DIN8 Unused 5VOut 13 GND Note 1: Analog command is disabled in factory default configuration.
PAGE 8
RC Ch1 RC Ch2 1 Pot 1 2 14 1 Pot 2 25 13 RS232 TxOut RxIn Ground Contactor Motor Brake 2 Motor Brake 1 FIGURE 6. Factory Default Pin Assignments Enabling Analog Commands For safety reasons, the Analog command mode is disabled by default. To enable the Analog mode, use the PC utility and set Analog in Command Priority 2 or 3 (leave Serial as priority 1).
PAGE 9
Status LEDs and Flashing Patterns Status LEDs and Flashing Patterns The controller is equipped with 3 LEDs. A Green Power LED, a Red/Green Status LED, and a Yellow Communication LED. 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 7. Normal Operation Flashing Patterns FIGURE 8.
PAGE 10
tor is well tuned, ie Hall Sensors correctly aligned in Trapezoidal mode, and Id = 0 in Sinusoidal mode. Secure Connection to AMP FASTON™ Tabs Power Motor and Battery connections are made via standard 250mils (6.35mm) AMP FASTON™ Tabs. FASTON connectors provide a high current and very secure connection, proven over decades of use in the automotive industry. For maximum current handling, use connectors for AWG10 wires recognizable by their yellow plastic insulator.
PAGE 11
Electrical Specifications TABLE 3. Parameter Measure point Min Typ Max Units Note 1: Maximum regeneration voltage in normal operation. Never inject a DC voltage from a battery or other fixed source Note 2: No external voltage must ever be applied to Tx pin Note 3: Non condensing Power Stage Electrical Specifications (at 25oC ambient) TABLE 4.
PAGE 12
TABLE 4. Continuous Max Current per channel Measure point Min Typ Max Units Note 1: Negative voltage will cause a large surge current. Protection fuse needed if battery polarity inversion is possible Note 2: Maximum regeneration voltage in normal operation. Never inject a DC voltage from a battery or other fixed source Note 3: Minimum voltage must be present on VBat or Power Control wire Note 4: Factory default value. Adjustable in 0.
PAGE 13
Electrical Specifications TABLE 5. Parameter Measure point Min Pulse repeat rate Pulse inputs 50 Pulse Capture Resolution Pulse inputs Frequency Capture Pulse inputs Typ Max Units 250 Hz 1 us 100 1000 Hz Note 1: Sum of all 5VOut outputs Operating & Timing Specifications TABLE 6. Parameter Measure Point Min Typ Max Units Command Latency Command to output change 1 0.
PAGE 14
TABLE 8. Parameter Measure Point Humidity Case Min Typ Max Units 100(3) % 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 Mechanical Specifications TABLE 9. Measure Point Weight Case Power Connectors Wiring Screw terminals Min Typ Max 250 (0,5) 14 Units g (lbs) 22 AWG 16.7 25.7 Parameter 123.0 FIGURE 10. SDC3260 Side View and Dimensions 72.4 83.0 D 3.2 112.4 FIGURE 11.