Datasheet

ManualsBrandsRoboteQ ManualsMotor ControllersAC Induction Motor Controller, Dual Channel, 2 x 30A, 60V

SIM23xx Motor Controller Datasheet 1

SIM23xx

Advanced Features

2 x 30A or 1 x 60A

Variable Frequency

Drive for AC

Induction Motors

Roboteq’s SIM2360 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 measure traveled distance inside a 32-bit counter.

The motors may be operated in open or closed loop speed

or torque modes. The SIM2360 features several Analog,

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

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

The SIM2360 accepts commands 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 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 Language scripts. The controller can be conﬁgured,

monitored and tuned in realtime 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

• Automatic Guided Vehicles (AGV)

• 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

induction motors at up to 30A

• Output channels can be paralleled in order to drive a

single motor at up to 60A

• 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 and reverse motor control. Four quadrant

operation. Supports regeneration

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

• STO-Safe Torque Off support (T-version)

• Design compliant/approval UL 61800-5-1

• Programmable current limit up to 30A (60A on single

channel version) per motor for protecting controller,

motor, wiring and battery.

• Separate connector for Encoder Sensors

• Accurate speed and Odometry measurement using

Encoder data

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

feed back

Summary of content (16 pages)

PAGE 1
SIM23xx Advanced Features 2 x 30A or 1 x 60A Variable Frequency Drive for AC Induction Motors Roboteq’s SIM2360 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 measure traveled distance inside a 32-bit counter.
PAGE 2
• Up to 8 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 two Quadrature Encoders 4 general purpose 24V, 1.
PAGE 3
Power Terminals 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
Controller Power F2 1A SW1 M ain On/Off Sw itch 1A PwrCtrl Note 1 Ground Motor1 Backup Battery V1 Diode >20A V1 W1 W1 Resistor 1K, 0.5W Note 3 Sensor Note 2 F1 Note 4 VMot Sensor Connectors SW2 Emergency Contactor or Cut-off Switch Sensor W2 V2 + U1 U1 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
Single Channel Wiring Precautions and Optional Connections Note 1: A backup battery is recommended to ensure motor operation with weak or discharged batteries. Connect a second battery to the Power Control 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. Note 4: Users have the option to ground the VMot terminal when the controller is Off.
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 a “No MOSFET Failure” occurs. The controller will automatically deactivate the coil if the output is expected to be off and a battery current of 1A or more is measured for more than 0.5s.
PAGE 7
Commands and I/O Connections TABLE 1. Pin Number 1 Signal 5V 2 3 4 5 6 Enc B Enc A Ground Commands and I/O Connections Connection to RC Radios, Microcomputers, Joysticks and other low current sensors and actuators are done via the 25-pin connector. The functions of many pins vary depending on controller model and user configuration. Pin assignment is found in the table below. 14 25 1 13 FIGURE 6. Main Connector Pin Locations TABLE 2.
PAGE 8
TABLE 2. Connector Pin Power Dout Com 24 12 25 13 Pulse Ana Dinput Default Config RC7 ANA7 DIN7 Unused RC8 ANA8 DIN8 Unused 5VOut GND Note 1: Analog command is disabled in factory default configuration. Note 2: STO functionality only available in T versions. See STO section for details. Note 3: Pulse input enable by default on firmware version prior to v2.
PAGE 9
USB communication USB communication Use USB only for configuration, monitoring and troubleshooting. USB is not a reliable communication method when used in an electrically noisy environment. Further, communication will not always recover after it is lost without unplugging and replugging the connector, or restarting the controller. RS232 is the preferred communication method when interfacing with a computer. USB and CAN can operate at the same time on the SIM2360.
PAGE 10
Always off: No USB, No CAN Always On: USB Active, No CAN Flashing On: No USB, CAN Enabled Flashing Off: USB Active, CAN Enabled FIGURE 10. Communication LED Flashing Patterns Measured Amps The controller includes Amps sensors in line with the motor terminals and on the battery ground terminals. Both Motor Amps and Battery Amps are therefore measured with precision.
PAGE 11
Electrical Specifications 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 12
TABLE 4.
PAGE 13
Electrical Specifications TABLE 5. Parameter Measure point Min Frequency Capture Pulse inputs 100 Typ Max Units 2000 Hz Note 1: Sum of all 5VOut outputs Note 2: Outputs are Open Drain. They pull to ground when on and float when off. Load must be connected between output and positive voltage Operating & Timing Specifications TABLE 6. Parameter Measure Point Min Typ Max Units Command Latency Command to output change 0 0.
PAGE 14
Scripting TABLE 8. Parameter Measure Point Min Typ Max Scripting Flash Memory Internal Max Basic Language programs Internal Integer Variables Internal 4096 Words (1) Boolean Variables Internal 8192 Symbols Execution Speed Internal 50 000 100 000 Lines/s Parameter Measure Point Min Typ Case Temperature Case Thermal Protection range Case Power Dissipation 32000 1000 Units Bytes 3000 Lines Note 1: 32-bit words Thermal Specifications TABLE 9.
PAGE 15
Electrical Specifications STO Specifications TABLE 10.
PAGE 16
72.4 83.0 D 3.2 112.4 FIGURE 13. SIM23xx Top View and Dimensions 16 SIM23xx Motor Controller Datasheet Version 1.