RoboteQ Advanced Features 2 x 60A or 1 x 120A Brushless DC Motor Controller with USB and CAN User Manual

: June 7, 2024
: RoboteQ

RoboteQ Advanced Features 2 x 60A or 1 x 120A Brushless DC Motor Controller with USB and CAN User Manual

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 RS232 serial port · CAN bus interface up to 1Mbit/switch multiple protocol support
RS485
Optional Ethernet 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
brushless DC motor at up to 60A
Output channels can be paralleled in order to drive a
single motor at up to 120A
Multiple Motor Operating mode
– Trapezoidal with Hall Sensors
– Sinusoidal with Encoders
– Sinusoidal with Hall Sensors
Support for absolute angle encoders · sin/cos analog
SSI (A & T version)
Resolver (A & T version)
Field Oriented Control in Sinusoidal modes
Full forward & reverse motor control. Four quadrant operation. Supports regeneration · Operates from a single 10V-60V power source
STO – Safe Torque Off support (T-version) – Certification No. M6A 104504 0001 Rev. 00 · Design compliant/approval UL 61800-5-1
Programmable current limit up to 60A (120Aon 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
Up to 8 Analog Inputs for use as command and/or feedback
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 2 Quadrature Encoders
4 general purpose 24V, 1.5A output for brake release or accessories
Selectable min, max, center and dead band in Pulse and Analog modes
Selectable exponentiation factors for each command inputs
Trigger action if Analog, Pulse 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, hall sensors, analog or pulse/frequency feedback
Torque mode · 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 2.5 mOhm ON resistance MOSFETs (1.25 mOhm on Single Channel)
Stall detection and selectable triggered action if Amps is outside user-selected range
Short circuit protection
Overvoltage and Undervoltage protection
Watchdog for automatic motor shutdown in case of command loss
Overtemperature protection
Diagnostic LED
ABS plastic enclosure with heat conducting bottom plate
Efficient heat sinking. Operates without a fan in most applications.
Dustproof and weather resistant. IP40 rating
Power wiring 0.25″ Faston tabs · 5.5″ (139.7mm) L, 5.5″ W (139.7mm), 1.0″ (25mm) H
-40o to +85o C operating environment
1 lbs (500g)
Easy configuration, tuning and monitory using provided PC utility
Field upgradeable software for installing latest features via the internet Orderable Product References
Field upgradeable software for installing latest features via the internet Orderable Product References

Specifications and Listings

Controller is designed and build to comply with UL and IEC specifications and standards, but is approved only under the mentioned standards on this datasheet.

Orderable Product References

Reference|

Number of Channels

|

Amps/Channel

|

Volts

|

Ethernet

|

STO

---|---|---|---|---|---
FBL2360(A)|

2

|

60

|

60

|

No

|

No

FBL2360(A)S|

1

|

120

|

60

|

No

|

No

FBL2360T|

2

|

60

|

60

|

No

|

Yes

FBL2360TS|

1

|

120

|

60

|

No

|

Yes

FBL2360E|

2

|

60

|

60

|

Yes

|

No

FBL2360ES|

1

|

120

|

60

|

Yes

|

No

FBL2360TE|

2

|

60

|

60

|

Yes

|

Yes

FBL2360TES|

1

|

120

|

60

|

Yes

|

Yes

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. Roboteq will not be liable in case of damage or injury as a result of product misuse or failure.

Power Wires Identifications and Connection

Power connections are made by means of faston tabs located at the back of the controller.

diagram

diagram
The diagram below shows how to wire the controller and how to turn power On and Off.

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 in the above diagram 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 PwrCtrl tab. Use a suitable high-current fuse F1 (check table 12) as a safety measure to prevent damage to the wiring in case of major controller malfunction.

Emergency Switch or Contactor
The battery must be connected in permanence to the controller’s Vmot tabs via a high-power emergency switch or contactor SW2 as additional safety measure. The user must be able to deactivate the switch or contactor at any time, independently of the controller state.

Electrostatic Discharge Protection
In accordance with IEC 61000-6-4, Roboteq Motor Controllers are designed to withstand ESD up to 4kV touch and 8kV air gap. This protection is implemented without any additional external connections required.
Some specifications, such as EN12895, require a higher level of protection. To maximize ESD protection, up to 8kV touch and 15kV air gap, you may connect the metallic heat sink of the controller to your battery negative terminal. See App Note 062918 for example connections.

Precautions and Optional Connections
Note 1: Backup battery to ensure motor operation with weak or discharged batteries, connect a second battery to the Power Control wire/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: 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.
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.

Single Channel Wiring

On the Single Channel FBL2360S, the each of the motor wire must be connected to both output tabs of the same letter as shown in the figure below. Use the Encoders and/or Hall sensors of Channel 1 for operation.

Important Warning
This wiring must be done only on the single channel version of the controller. Paralleling the wires on a dual channel product will cause permanent damage. Verify that your controller is an FBL2360S before you wire in this manner.

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.

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. This circuit will not protect against other sources of failure such as those described in the “Important Safety Disclaimer”.

Controller Mounting

During motor operation, the controller will generate heat that must be evacuated. The published amps rating can only be fully achieved if adequate cooling is provided. Good conduction cooling can be achieved by having the bottom surface of the case making direct contact with a metallic surface (chassis, cabinet). The mounting has to be like that, so that the thermal- safety limits are not exceeded.

Hall Sensors Connection

Connection to the Hall Sensors is done using a special connector on the front side of the controller. The Hall sensor connector is a 10-pin Molex Microfit 3.0, ref. 43025-1000. Pin assignment is in the table below.

TABLE 1

Pin Number

|

1

|

2

|

3

|

4

|

5

Row Ch1|

5V

|

Hall 1 C

|

Hall1 B

|

Hall 1 A

|

Ground

Row Ch2|

5V

|

Hall 2 C

|

Hall 2 B

|

Hall 2 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 below.

Connection to SPI Absolute Encoder

In Sinusoidal Mode, the FBL2360 and FBL2360S models can use motors equipped with absolute angle sensors with SPI interface, such as found on the BL167 or BL90 motors from Micromotor. When enabled, the SPI signals are found on the 10-pin Molex connector that is otherwise used for the Hall Sensors. The controller issues a clock and select signal. When two motors are used, these signals must be connected to both sensors. Serial data from each sensor is captured on separate input pins. The SPI Encoder is not available on A’,T’ and `E’ versions of Roboteq products.

diagram

TABLE 2

Pin Number|

1

|

2

|

3

|

4

|

5

Row 1|

5V

|

NC

|

NC

|

Sel

|

GND

Row 2|

5V

|

Clock

|

Data 2

|

Data 1

|

GND

In Sinusoidal Mode, the controller can use motors equipped with absolute angle sensors with SSI interface. When enabled, the SSI signals are found on the 10-pin Molex connector that is otherwise used for the Hall Sensors. The controller issues a differential clock signal and expects a 12-bit differential data signal from the encoder. When two motors are used, these signals must be connected to both sensors. Serial data from each sensor is captured on separate input pins. The SSI Encoder is only featured on A’,T’ and `E’ versions of Roboteq products.

TABLE 3

Pin Number|

1

|

2

|

3

|

4

|

5

Row 1|

5V

|

CLK –

|

Data 2 –

|

Data 1 –

|

GND

Row 2|

5V

|

Clock +

|

Data 2 +

|

Data 1 +

|

GND

Connection to Analog Sin/Cos Absolute Encoder

The FBL2360 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. The table below shows the signals assignment on the 25-pin connector.

TABLE 4

Signal|

Pin Number

|

Pin Name

Sin 1|

9

|

ASIN 1

Cos 1|

10

|

ACOS 1

Sin 2|

24

|

ANA7/ASIN2

Cos 2|

12

|

ANA8/ACOS2

Connecting Resolver

Resolver wiring is similar to a Sin/Cos sensor with the addition of an excitation signal. Diagram below shows the necessary connections.

TABLE 5

Signal|

Pin Number

|

Pin Name

Sin1|

9

|

ASIN1

Cos1|

10

|

ACOS1

Sin2|

24

|

ANA7/ASIN2

Cos2|

12

|

ANA8/ACOS2

Exc|

17

|

ANA4/EXC

GND|

1-5 or 13

|

GND

Commands and I/O Connections

Connection to RC Radio, Microcomputer, Joystick and other low current sensors and actuators is done via the DB25 connector. The functions of many pins vary depending on controller model and user configuration. Pin assignment is found in the table below.

diagram

TABLE 6

Connector Pin

|

Power

|

Dout

|

Com

|

Pulse

|

Ana

|

Dinput

|

Enc

|

Hall (4)

|

Default Config

1

|

GND

| | | | | | | |

14

|

5VOut

| | | | | | | |

2

| | |

RS TxD

| | | | | |

RS232Tx

15

| | | |

RC1

|

ANA1

|

DIN1/ STO1 (2)

| |

Hall1A

|

RC Radio1 (3)

3

| | |

RS RxD

| | | | | |

RS232Rx

16

| | | |

RC2

|

ANA2

|

DIN2/ STO2 (2)

| |

Hall1B

|

RC Radio2 (3)

4

| | | |

RC3

|

ANA3

|

DIN3

| |

Hall1C

|

AnaCmd1 (1)

17

| | | |

RC4

|

ANA4/EXC

|

DIN4

| |

Hall2A

|

AnaCmd2 (1)

5

|

GND

| | | | | | | |

18

| |

DOUT1

| | | | | | |

Motor Brake 1

6

| |

DOUT2

| | | | | | |

Motor Brake 2

19

| |

DOUT3

| | | | | | |

Contactor

7

| |

DOUT4

| | | | | | |

Unused

20

Unused

8

Unused

21

| | | | RC5| ANA5| DIN5| ENC2A| Hall2B|

Unused

9

| | | | | ASIN1| DIN9| | |

Unused

22

| | | | RC6| ANA6| DIN6| ENC2B| Hall2C|

Unused

10

| | | | | ACOS1| DIN10| | |

Unused

23

| | | 485 +| | | | | |

RS485 +

11

| | | 485 –| | | | | |

RS485 –

24

| | | | RC7| ANA7/ ASIN2| DIN7| ENC1A| |

Unused

12

| | | | RC8| ANA8/ ACOS2| DIN8| ENC1B| |

Unused

25

|

5VOut

| | | | | | | |

13

|

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 v2.0

Note 4: Hall inputs are activated in DB25 connector in firmware v2.0 or later and only if Molex input is configured as SSI Input. In that case user has to install 1K pull up resistor between each hall signal and 5VOut.

Default I/O Configuration
While the controller can be configured so that practically any Digital, Analog and RC pin can be used for any purpose, the controller’s factory default configuration provides an assignment that is suitable for most applications. The figure below shows how to wire the controller to two analog potentiometers, an RC radio, and the RS232 port. It also shows how to connect two outputs to motor brake solenoids and another output to an external status LED. You may omit any connection that is not required in your application. The controller automatically arbitrates the command priorities depending on the presence of a valid command signal in the following order: 1-RS232, 2-RC Pulse, 3-None. If needed, use the Roborun+ PC Utility to change the pin assignments and the command priority order.

diagram, schematic

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). Note that by default the additional securities are enabled and will prevent the motor from starting unless the potentiometer is centered, or if the voltage is below 0.25V or above 4.75V. The drawing shows suggested assignment of Pot 1 to ANA1 and Pot 2 to ANA4. Use the PC utility to enable and assign analog inputs.

USB Communication

Use USB only for configuration, monitoring and troubleshooting. USB is not a reliable communication method when used in an 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 FBL2360. Plugging USB to a computer will not disable CAN interface.

RS485 Communication

RS485 is an industry standard for defining serial communication. Due to its balanced signalling, RS485 is effective over distances, even if other electrical signals are present. Its stability makes it well suited to connect multiple receivers to a single network. You can operate RS485 in half-duplex mode and it is well suited for use with the Modbus protocol. On the 25-pin connector, RS485+ and RS485- pins are present.

Ethernet Communication

Ethernet communication is currently only available on the E versions of applicable Roboteq product. There is a connection port on the top of the unit for easy and rapid access. While the TCP and Modbus TCP protocols are supported, Serial is the preferred method to access all native commands.

Status LED Flashing Patterns

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. The flashing pattern and colour provides operating or exception status information.
table
calendar
Additional status information may be obtained by monitoring the controller with the PC utility.

Battery Backed Clock and Variables

The battery backed clock and variables feature allows accurate time/date stamping of information such as status and error reports. It is important to note that the only Roboteq products that include this feature are ones that specifically say that battery backed clock is a product feature. If your Roboteq product has displayed time/date information but the product does not specifically list the battery backed clock as a feature, then the information displayed is random and not accurate.
The location of the battery is dependent on the product. However, any Roboteq product with this feature will run it on a 3V, 12.5mm coin style battery. The clock is accessible via the ^BEE commands and user input variables will remain even if the unit is powered off.
Please Note: Customers will be required to install the battery for the clock (type BR-1225), themselves. Units do not ship with the battery for the Battery Backed Clock, installed.

Measured and Calculated Amps

The controller includes Amps sensors in line with the motor terminals. Motor Amps are measured with precision. Battery Amps are estimated mathematically.
When motor is rotating, amps are AC. The FBL2360 measures and is rated based on RMS Amps. The table below shows the relation between the RMS current and the DC Equivalent in Sinusoidal and Trapezoidal modes. In sinusoidal mode, DC equivalent are the amps resultant from the torque (Iq) and quadrature (Id) vectors. In trapezoidal mode, they are the DC amps that flow through the two coils that are active at any one time.

|

Amps RMS

|

DC Equivalent

---|---|---

Sinusoidal

|

120A

|

170A (Irms * 1.414)

60A

|

85A (Irms * 1.414)

Trapezoidal

|

120A

|

147A (Irms * 1.225)

60A

|

73.5 (Irms * 1.225)

Safe Torque Off – STO (Certification No. M6A 104504 0001 Rev 00)

Safe Torque Off is a safe method for switching controller in a state where no torque is generated, regardless whether the controller is operating normally or is faulty. When STO is enabled, two digital inputs, DIN1 and DIN2 are remapped as STO1 and STO2. The inputs are redundant and both must have a 6V to 30V signal present at the same time in order for the Power MOSFETs to be energized. The controller will perform a self-check of the STO circuit at every power on and every time the STO inputs go from any state to both high. Once the STO hardware is verified to work, the controller will safely allow the motors to be energized. If either input is below 1V, the controller’s outputs will be disabled. The STO circuit is verified and validated and can therefore be trusted instead of external relays. See STO Manual for more information and maintenance instructions.
By factory default STO functionality is disabled. It must be enabled by removing the jumper located on the controller’s PCB. STO functionality is only available in the T version of the controller.

a close up of a clock

The STO function is compliant to:

IEC 61800-5-2:2007, SIL 3
IEC 61508:2010, SIL 3
IEC 62061:2005, SIL 3
ISO 13849-1:2015, Category 3 Performance Level e

Important Warning
Activating STO does lead to no more torque generation on the motor. The motor will not be actively stopped but run out. In case of a multiple fault in the power stage a rotation might occur.

Secure Connection to AMP FASTON Tabs

Power Motor and Battery connections are made via standard 250 mils (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 AWG8 wires. FASTON connectors have an extremely tight fit and will not come off on their own. It is recommended, nevertheless, that the wiring is made so that the cables are never pulling the connector outward. Frequent disconnects and reconnects will eventually loosen the connector’s grip on the tab. If frequent disconnection is required, consider using Positive Lock connectors from TE Connectivity or their equivalent. These connectors have a spring-loaded tab latch pin that will lock into the hole of the male tab.

Electrical Specifications

Absolute Maximum Values
The values in the table below should never be exceeded, permanent damage to the controller may result.

TABLE 7

Parameter

|

Measure point

|

Min

|

Typ

|

Max

|

Units

Battery Leads Voltage|

Ground to Vmot

| | |

60 (1)

|

Volts

Reverse Voltage on Battery Leads|

Ground to Vmot

|

-1

| | |

Volts

Power Control Voltage|

Ground to PwrCtrl wire

| | |

60 (1)

|

Volts

Motor Leads Voltage|

Ground to U, V, W wires

| | |

60 (1)

|

Volts

Digital Output Voltage|

Ground to Output pins

| | |

30

|

Volts

Analog and Digital Inputs Voltage|

Ground to any signal pin on DB25 & Hall inputs

| | |

30

|

Volts

RS232 I/O pins Voltage|

External voltage applied to Rx pins

| | |

30 (2)

|

Volts

Case Temperature|

Case

|

-40

| |

85

|

ºC

Humidity|

Case

| | |

100 (3)

|

%

Note: Only PELV/SELV voltages shall be used
Note 1: Can be even higher because of regeneration voltage. Never inject a DC voltage from a battery or other fixed source
Note 2: No voltage must be applied on Tx pin
Note 3: Non condensing

Power Stage Electrical Specifications (at 25ºC ambient)

Table 8.

Parameter

|

Measure point

|

Model

|

Min

|

Typ

|

Max

|

Units

---|---|---|---|---|---|---
Input Voltage|

Ground to Vmot

|

All

|

0 (1)

| |

60

|

Volts

Input continuous Max Current|

Power source current

|

All

| | |

80

|

Amps

Output Voltage|

Ground to U, V, W wires

|

All

|

0 (1)

| |

60 (2)

|

Volts

Power Control Voltage|

Ground to Power Control wire

|

All

|

0 (1)

| |

65

|

Volts

Minimum Operating Voltage|

VBat or PwrCtrl wires

|

All

|

10 (3)

| | |

Volts

Over Voltage protection range|

Ground to Vmot

|

All

|

5

|

60 (4)

|

63

|

Volts

Under Voltage protection range|

Ground to Vmot

|

All

|

0

|

5 (4)

|

63

|

Volts

Idle Current Consumption|

Vmot or PwrCtrl wires

|

All

|

50

|

100 (5)

|

150

|

mA

ON Resistance (Excluding wire resistance)|

Vmot to U, V or W. Ground to U, V or W

|

FBL2360

| |

2.5

| |

mOhm

FBL2360S

| |

1.25

| |

mOhm

Max Current for 30s|

Motor current

|

FBL2360

| | |

60

|

Amps

FBL2360S

| | |

120

|

Amps

Continuous Max Current per channel|

Motor current

|

FBL2360

| | |

40 (6)

|

Amps

FBL2360S

| | |

80 (6)

|

Amps

Current Limit range|

Motor current

|

FBL2360

|

10

|

50 (7)

|

60

|

Amps

FBL2360S

|

20

|

100 (7)

|

120

|

Amps

Stall Detection Amps range|

Motor current

|

FBL2360

|

10

|

60 (7)

|

60

|

Amps

FBL2360S

|

20

|

120 (7)

|

120

|

Amps

Stall Detection timeout range|

Motor current

|

All

|

1

|

500

(8)

|

65000

|

msec

Short Circuit Detection threshold (9)|

Between Motor wires

or Between Motor wires and ground or Between Motor wires and Vmot

|

FBL2360

| | |

125(10)

|

Amps

FBL2360S

| | |

250 (10)

|

Amps

Motor Acceleration/ Deceleration range|

Motor Output

|

All

|

100

|

500(11)

|

65000

|

msec

Power cable thickness|

Power input and output

|

All

| |

8

| |

AWG

Note 1: Negative voltage will cause a large surge current. Protection fuse needed if battery polarity inversion is possible
Note 2: Can be even higher because of regeneration voltage. 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 0.1V increments
Note 5: Current consumption is lower when higher voltage is applied to the controller’s VBat or PwrCtrl wires
Note 6: Estimate. Limited by case temperature. Current may be higher with better cooling
Note 7: Factory default value. Adjustable in 0.1A increments
Note 8: Factory default value. Time in ms that Stall current must be exceeded for detection
Note 9: Controller will stop until restarted in case of short circuit detection” change with “Controller will stop until zero command given in case of short circuit detection
Note 10: Approximate value
Note 11: Factory default value. Time in ms for power to go from 0 to 100%

Command, I/O and Sensor Signals Specification

Table. 9

Parameter

|

Measure point

|

Min

|

Type

|

Max

|

Units

---|---|---|---|---|---
Main 5V Output Voltage| Ground to 5V pins on|

4.6

| 4.9| 5.2|

Volts

5V Output Current| 5V pins on RJ45 and D Sub 15| | |

200 (1)

|

mA

Digital Output Voltage| Ground to Output pins| |

| 30|

Volts

Output On resistance| Output pin to ground| |

0.25

| 0.5|

Ohm

Output Short circuit threshold| Output pin|

1.7

| | 3.5|

Amps

Digital Output Current| Output pins, sink current| |

| 1.5|

Amps

Input Impedances (except DIN11-19)| AIN/DIN Input to Ground| |

53

| |

kOhm

Digital Input 0 Level| Ground to Input pins|

-1

| | 1|

Volts

Digital Input 1 Level| Ground to Input pins|

3

| | 30|

Volts

Analog Input Range| Ground to Input pins|

0

| | 5.1|

Volts

Analog Input Precision| Ground to Input pins| |

0.5

| |

%

Analog Input Resolution| Ground to Input pins| |

1

| |

mV

Encoder Frequency| | | |

500

|

kHz

Pulse durations| Pulse inputs|

20000

| |

10

|

us

Pulse repeat rate| Pulse inputs|

50

| |

250

|

Hz

Pulse Capture Resolution| Pulse inputs| |

1

| |

us

Frequency Capture| Pulse inputs|

100

| |

1000

|

Hz

Note 1: Sum of all 5VOut outputs

Operating & Timing Specifications

TABLE 10

Parameter| Measure Point|

Min

|

Typ

|

Max

|

Units

Command Latency|

Command to output change

| 0| 0.5| 1|

ms

PWM Frequency| Motor Output|

10

| 16| 25|

kHz

Closed Loop update rate| Internal| |

1000

| |

Hz

RS232 baud rate| Rx & Tx pins| |

115200 (1)

| |

Bits/s

RS232 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 11

Parameter| Measure Point|

Min

|

Typ

|

Max

|

Units

Scripting Flash Memory| Internal| |

32K

| |

Bytes

Max Basic Language programs| Internal|

2000

| |

3000

|

Lines

Integer Variables| Internal| |

4096

| |

Words (1)

Boolean Variables| Internal| |

8192

| |

Symbols

Execution Speed| Internal|

50 000

|

100 000

| |

Lines/s

Note 1: 32-bit words

Thermal Specifications

TABLE 12

Parameter| Measure Point|

Min

|

Typ

|

Max

|

Units

Case Temperature| Case|

-40

| |

85 (1)

|

oC

Thermal Protection range| Case|

80

| |

90 (2)

|

oC

Power Dissipation| Case| | |

70

|

Watts

Thermal resistance| Power MOSFETs to case| | |

0.6

|

oC/W

Humidity| Case| | |

95

|

%

Ambient temperature| Ambient| | |

55

|

oC

Pollution Degree| –|
Fast fuse to install (3)| FBL2360 (4)|

40

| |

2 x 40

|

Amps

FBL2360S (4)| |

2 x 40

| |

Amps

Overload motor protection| –|

Check note 5

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
Note 3: There are two power terminal tabs. Fuse should be installed in both of them for safety.
Note 4: In dual channel controller, for operating only one channel install 40A fuse and for operating both channels 2 x 40A fuse should be installed. Power source must be capable to blow the fuse instantly in case of short circuit
Note 5: Current limiting mechanism available through firmware. External overload motor protection can be used if required (provided by user)

STO Specifications

TABLE 13

Parameter| Measure Point|

Min

|

Typ

|

Max

|

Units

STO Input High Level|

Ground to STO input pin