Data Sheet - RobotShop
Contents
1. lRoboteQ VDC2450 2x150A Dual Channel Forward Reverse Brushed DC Motor Controller Roboteq s VDC2450 controller is designed to convert com Key Features mana Received from a RC radio Analog Joystick we e RS232 0 5V Analog or Pulse RC radio command modes modem or microcomputer into high voltage and high current output for driving one or two DC motors Designed for maximal Auto switch between RS232 Analog or Pulse based on ease of use it is delivered with all necessary cables and hard user defined priority ware and is ready to use in minutes e Built in high power power drivers for two brushed DC motors at up to 150A output per channel The controller s two channels can either be operated indepen k dently or mixed to set the direction and rotation of a vehicle by coordinating the motion on each side of the vehicle The motors may be operated in open or closed loop speed mode Using Full forward amp reverse control on each channel Four quad rant operation Supports regeneration e Operates from a single 10V 50V power source low cost position sensors they may also be set to operate as e Programmable current limit for each channel up to 2x150A heavy duty position servos Numerous safety features are for protecting controller motors wiring and battery incorporated into the controller to ensure reliable and safe ope e Up to 4 Analog Inputs for use as command and or feed ation A high efficiency version is also a2. Volts Over Voltage protection range Ground to VBat All 50 4 55 Volts Under Voltage protection range Ground to VBat All 5 4 55 Volts Idle Current Consumption VBat or Pwr Ctrl wires All 50 100 5 150 mA ON Resistance Excluding wire VBat to M plus M to VDC2450 3 mOhm resistance Ground at 100 power VDC2450S 15 mOhm Per channel Max Current per channel for 30s Ch1 or Ch2 Motor current VDC2450 150 Amps VDC2450S 300 6 Amps Continuous Max Current per Ch1 or Ch2 Motor current VDC2450 80 7 Amps channel VDC2450S 160 6 7 Amps Current Limit range Ch1 or Ch2 Motor current VDC2450 10 100 8 150 Amps VDC2450S 10 200 8 300 6 Amps Stall Detection Amps range Ch1 or Ch2 Motor current VDC2450 10 100 8 150 Amps VDC2450S 10 200 8 300 6 Amps VDC2450 Motor Controller Datasheet IRoboteQ TABLE 6 Parameter Measure point Models Min Typ Max Units Stall Detection timeout range Ch1 or Ch2 Motor current All 1 65000 9 65000 milli seconds Short Circuit Detection Between Motor wires or VDC2450 550 1600 Amps threshold 10 Between Motor wire and YDC2450S 1100 3000 6 Amps Ground Short Circuit Detection threshold Between Motor wires All No Protection Permanent damage will result and VBat Motor Acceleration Deceleration Ch1 or Ch2 All 100 500 11 65000 milli range seconds Note 1 Negative voltage will cause a large surge current Protect
3. 6 VDC2450 Motor Controller Datasheet Version 1 2 December 9 2011 lRoboteQ 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 5 Parameter Measure point Min Typ Max Units Battery Leads Voltage Ground to VBat 55 Volts Reverse Voltage on Battery Leads Ground to VBat 1 Volts Power Control Voltage Ground to Pwr Control wire 65 Volts Motor Leads Voltage Ground to M1 M1 M2 M2 55 1 Volts Digital Output Voltage Ground to Output pins 30 Volts Analog and Digital Inputs Voltage Ground to any signal pin on 15 pin 15 Volts connectors RS232 O pins Voltage External voltage applied to Rx Tx pins 15 Volts Case Temperature Case 40 85 oC Humidity Case 100 2 Note 2 Non condensing Note 1 Maximum regeneration voltage in normal operation Never inject a DC voltage from a battery or other fixed source Power Stage Electrical Specifications at 250C ambient TABLE 6 Parameter Measure point Models Min Typ Max Units Battery Leads Voltage Ground to VBat All 0 1 55 Volts Motor Leads Voltage Ground to M1 M1 All 0 1 55 2 Volts M2 M2 Power Control Voltage Ground to Power Control All 0 1 65 Volts wire Minimum Operating Voltage VBat or Pwr Ctrl wires All 9 3
4. C power supply Note6 Beware not to create a path from the ground pins on the I O connector and the battery s minus terminal Sensor and Commands Connection Connection to RC Radio Microcomputer Joystick and other low current sensors and actuators is done via the 15 pin connector located in front of the connector The functions of many pins vary depending on controller model and user configuration Pin assignment is found in the table below a P1 Aux e oooo0oo0000 SONE 0000000 l m aS Power Status ee Communication and Power and Status LEDs Auxiliary Connector I O Connector Reserved FIGURE 10 Front Controller Layout 4 VDC2450 Motor Controller Datasheet Version 1 2 December 9 2011 IRoboteQ Sensor and Commands Connection 8 1 15 9 FIGURE 11 Connector pin locations TABLE 4 Connector Pin Power Dout Com RC Ana Dinput Default Config 1 DOUT1 Unused 9 DOUT2 Unused 2 TxOut RS232Tx 0 RC5 ANA1 DIN5 AnaCmd1 3 RxlIn RS232Rx 1 RC4 ANA4 DIN4 AnaCmd2 4 RC1 DIN1 RCRadio1 2 RC3 ANA3 DIN3 Unused 5 GND 3 GND 6 SCLI Reserved 4 5VOut 7 SDAI Reserved 5 DIN6 Unused 8 RC2 ANA2 DIN2 RCRadio2 Default I O Configuration 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 pr
5. ances except AIN DIN Input to Ground 53 kOhm DIN11 19 Digital Input O Level Ground to Input pins 1 1 Volts Digital Input 1 Level Ground to Input pins 3 15 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 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 10000 Hz Note 1 Sum of all 5VOut outputs 8 VDC2450 Motor Controller Datasheet Version 1 2 December 9 2011 lRoboteQ Electrical Specifications Operating amp Timing Specifications TABLE 8 Parameter Measure Point Min Typ Max Units Command Latency Command to output change 1 0 5 1 ms PWM Frequency Ch1 Ch2 outputs 10 18 32 kHz Closed Loop update rate Internal 1000 Hz RS232 baud rate Rx amp 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 9 Parameter Measure Point Min Typ Max Units Scripting Flash Memory Internal 8192 Bytes Max Basic Language programs Internal 1000 1500 Lines Integer Variables Internal 1024 Words 1 Boolean Variables Internal 1024 Symbols Execution Speed Inter
6. ent 3 Ibs 1 3509 Easy configuration tuning and monitory using provided PC utility Field upgradeable software for installing latest features via the internet Reference Number of Channels Amps Channel Volts VDC2450 2 150A 50V VDC2450S 1 300A 50V 2 VDC2450 Motor Controller Datasheet Version 1 2 December 9 2011 IRoboteQ Power Wires Identifications and Connection Power Wires Identifications and Connection Power connections are made by means of heavy gauge wires located at the back of the controller Power Control Ground Yellow Black top a En e Eea S aaa ae aera eer SS Q orn i Motor Motor VBat Ground VBat Motor Motor White Green Red Black Red White White Motor 1 Motor 2 FIGURE 8 Rear Controller Layout The diagram below shows how to wire the controller and how to turn power On and Off F2 SW1 Main 1A On Off Switch 1A PwrCtrl Yellow White M1 Ground Black Motor 1 Green M1 Resistor 1K 0 5W White M2 VMot Red VMot Red Motor 2 SW2 Emergency Green M2 Note 4 Cut off Switch Ground Black Earth Tab Note 5 Ground Black I O Connector Note 6 Do not Connect FIGURE 9 Powering the controller Thick lines identify MANDATORY connections VDC2450 Motor Controller Datasheet 3 lIRoboteQ Important Warning Carefully follow the wiring Instructio
7. igurable Data Logging of operating parameters on RS232 Output for telemetry or analysis e Built in Battery Voltage and Temperature sensors e Optional 12V backup power input for powering safely the controller if the main motor batteries are discharged e Power Control wire for turning On or Off the controller from external microcomputer or switch e No consumption by output stage when motors stopped e Regulated 5V output for powering RC radio RF Modem or microcomputer e Separate Programmable acceleration and deceleration for each motor e Separate Programmable maximum forward and reverse power e Ultra efficient 1 5 mOhm ON resistance MOSFETs e Orderable as single channel version up to 300A e Stall detection and selectable triggered action if amps is outside userselected range e Short circuit protection with selectable sensitivity levels e 10 to 32kHz user programmable Pulse Width Modulation PWM output e Overvoltage and Undervoltage protection Orderable Product References Watchdog for automatic motor shutdown in case of command loss Overtemperature protection Diagnostic LED Extruded aluminum heat sinking enclosure for operation harsh shock and temperature environment Efficient heat sinking Operates without a fan in most applications Dustproof and weather resistant IP51 NEMA rating Power wiring via heavy AWG8 cables 9 228 5mm L 5 5 W 140mm 1 6 40mm H 400 to 850 C operating environm
8. ion 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 1V increments Note 5 Current consumption is lower when higher voltage is applied to the controller s VBat or PwrCtrl wires Note 6 Current is sum of both synchronized channels Current must be balanced between channel to obtain max current Note 7 Estimate Limited by case temperature Current may be higher with better cooling Note 8 Factory default value Adjustable in 0 1A increments Note 9 Factory default value Time in ms that Stall current must be exceeded for detection Note 10 Controller will stop until restarted in case of short circuit detection Note 11 Factory default value Time in ms for power to go from 0 to 100 Command I O and Sensor Signals Specifications TABLE 7 Parameter Measure point Min Typ Max Units Main 5V Output Voltage Ground to 5V pins on 4 6 4 75 4 9 Volts 5V Output Current 5V pins on RJ45 and DSub15 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 0 1 5 Amps Input Imped
9. nal 50 000 100 000 Lines s Note 1 32 bit words Thermal Specifications TABLE 10 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 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 11 Parameter Measure Point Min Typ Max Units Weight Case 1 0 2 0 kg Ibs Wire Length Case 17 43 inches mm Power Wire Gauge Wire 8 AWG Power Wire Diameter Outside diameter 0 26 6 6 inches mm VDC2450 Motor Controller Datasheet lIRoboteQ 1 60 40 mm fO OJ Fa Aux Te oooo0oo0000 Ea Power Status 4 00 102 mm 5 50 140 mm FIGURE 15 VDC2450 front view and dimensions 140 mm 5 50 7 00 177 8 mm 8 00 203 mm 9 00 228 6 mm m gi FIGURE 16 VDC2450 top view and dimensions 10 VDC2450 Motor Controller Datasheet Version 1 2 December 9 2011
10. ns provided in the Read Me First sheet that comes with the control ler or 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 trou ble free operation All connections shown as thick black lines line are mandatory The controller must be powered On Off using switch SW1on the Yellow wire Use a suitable high current fuse F1 as a safety measure to prevent damage to the wiring in case of major controller malfunction The battery must be connected in permanence to the controller s Red wires via a high power emergency switch SW2 as additional safety measure Precautions and Optional Connections Note1 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 Note2 Use precharge 1K 0 5W Resistor to prevent switch arcing Note3 Insert a high current diode to ensure a return path to the battery during regeneration in case the fuse is blown Note4 Optionally ground the VBat wires when the controller is Off if there is any concern that the motors could be made to spin and generate voltage in excess of 50V Note5 Connect the controller s earth tab to a wire connected to the Earth while the charger is plugged in the AC main or if the controller is powered by an A
11. ovides 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 the two outputs to motor brake solenoids You may omit any connection that is not required in your application The controller automatically arbitrates the command priorities depending on the pres ence of a valid command signal in the following order 1 RS232 2 RC Pulse 3 Analog If needed use the Robo run PC Utility to change the pin assignments and the command priority order VDC2450 Motor Controller Datasheet 5 lIRoboteQ RC Ch2 RCCh1 RS232 Ground TxOut RxIn Motor 1 Motor 2 FIGURE 12 Factory default pins assignment 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 2 seconds interval The flashing pattern provides operating or exception status information BERBER dic Waiting for Command BERBER RS232 USB Mode BERBER EEREEREREREEE RC Pulse Mode BEEREEREEREEEREEREEE Analog Mode FIGURE 13 Normal Operation Flashing Patterns BEEEEEEEEEREEEEEH Short Detected BEREREEREEREEEEEEEE Overheat BEER Under or Over Voltage BEER Power Stage Off FIGURE 14 Exception or Fault Flashing Patterns Additional status information may be obtained by monitoring the controller with the PC utility
12. vailable for higher cur back rent operation in extended temperature environment e Upto 5 Pulse Length Duty Cycle or Frequency Inputs for i use as command and or feedback The controller s operation can be extensively automated and customized using Basic Language scripts The controller can be e Up to 6 Digital Inputs for use as Deadman Switch Limit reprogrammed in the field with the latest features by down Switch Emergency stop or user inputs loading new operating software from Roboteq e Custom scripting in Basic language Execution speed 50 000 lines per second Applications e Two general purpose 24V 1 0A output for brake release or e Heavyweight heavy duty robots accessories e Terrestrial and Underwater Robotic Vehicles e Selectable min max center and deadband in Pulse and e Automatic Guided Vehicles Analog modes e Selectable exponentiation factors for each command e Police and Military Robots Inputs e Hazardous Material Handling Robots e Trigger action if Analog or Pulse or Encoder capture soft e Telepresence Systems limit switches e Animatronics e Open loop or closed loop speed control operation Industrial Controls e Closed loop position control with analog or pulse fre e Hydraulic Pumps control quency feedback e PID control loop with separate gains for each channel e Optional Mixed control sum and difference for tank like steering VDC2450 Motor Controller Datasheet 1 lRoboteQ e Conf
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