Cytron Technologies SmartDrive40 User manual
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ProductUser’sManual–MDS40A
Index
1. IntroductionandOverview 3
2. PackingList 4
3. ProductSpecifications 5
4. BoardLayout 6
5. PowerSupply 8
6. MotorConnection 15
7. SafetyFeatures 19
8. InputModes 20
8.1RCInputMode 21
8.2Analog/PWMInputMode 24
8.3SimplifiedSerialMode 29
8.4PacketizedSerialMode 30
9. Warranty 32
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ProductUser’sManual–MDS40A
1.0INTRODUCTIONANDOVERVIEW
SmartDrive40 is one of the latest smart series motor drivers designed to drive medium to high
power brushed DC motor with current capacity up to 80A peak and 40A continuously.
MOSFETs are switched at 16 KHz to ensure quiet operation and no annoying whining sound.
Besides, it also equipped with a microcontroller unit to provide smart features such as
multipleinputmode,currentlimitingandthermalprotection.
SmartDrive40 can also be hooked up with another similar unit and operates in pair. This
makedrivingarobotwithdifferentialdriveatrulyplugandplayexperience.
SomeofthefeaturesforSmartDrive40aresummarizedasbelow:
●BidirectionalcontrolforasinglebrushedDCmotor.
●Supportmotorfrom7Vto25V.
●Maximum current up to 80A peak (1 second), 40A (5 minutes) or 30A (> 20 minutes)
continuously.
●16KHzswitchingfrequencyforquietoperation.
●Reversepolarityprotection.
●LiPobatterylowvoltagewarning.
●Thermalprotection.
●Currentlimitingbaseontemperature.
●Multipleinputmodes:RC,Analog,PWM,SimplifiedSerialandPacketizedSerial.
●Onboardpushbuttonsforfasttestandmanualoperation.
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2.0PACKINGLIST
Please check the parts and components according to the packing lists. If there are any parts
missing,pleasecontactusat[email protected]immediately.
1. 1xMDS40ASmartDrive40
2. 1xDeanTConnector(Female)
3. User’s manual, and sample source code can be downloaded from
http://www.cytron.com.my.
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ProductUser’sManual–MDS40A
3.0PRODUCTSPECIFICATIONS
Dimensions
No
Parameters
Min
Typical
Max
Unit
1
InputVoltage(MotorSupplyVoltage)
7
25
V
2
I
MAX
(MaximumContinuousMotorCurrent)*
5minutes
>20minutes
40
30
A
A
3
I
PEAK
–(PeakMotorCurrent)**
80
A
4
V
IOH
(LogicInput–HighLevel)***
3
5.5
V
5
V
IOL
(LogicInput–LowLevel)***
0
0
0.5
V
6
5VOutputCurrent
50
mA
* Dependsontheroomtemperature.
** Mustnotexceed1second.
*** NotapplicableforPWMsignalasPWMsignalwillbeconvertedtoanalogvoltage
vialowpassfilterbeforeprocessedbytheprocessor.
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ProductUser’sManual–MDS40A
4.0BOARDLAYOUT
ComponentsonMDS40Aandtheirfunctions:
1. Dean T Connector (Male) – Connect to power source. For high current application,
pleasesolderthewiredirectlytothepadatbottomlayer.
2. LED A – Turns on when the output A is high and output B is low. Indicates the
currentflowsfromoutputAtoB.
3. Terminal Block – Connect to motor. Reverse the polarity if the motor direction is
incorrect.
4. LED B – Turns on when the output A is low and output B is high. Indicates the
currentflowsfromoutputBtoA.
5. LEDSTAT–StatusLED.Turnonwhenthemotorisrunning.Turnoffotherwise.
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6. LEDERR–ErrorLED.Thenumberofblinksiscorrespondingtotheerror.
NumberofBlinks
Error
Description
Off
NoError
Noerrorhasbeendetected.
2
InputError
Invalidornoinputdetected.
3
LipoUndervoltage
TheLiPobatteryvoltageistoolow.
4
OverCurrent
Over current is detected and current
limitingisoperating.
5
OverTemperature
Theboardtemperatureistoohigh.
6
MOSFETDriver
Error
ErrordetectedbytheMOSFETdriver.
7. Test Button B – When this button is pressed, current flows from output B to A and
motorwillturnCCW(orCWdependingontheconnection).
8. Test Button A – When this button is pressed, current flows from output A to B and
motorwillturnCW(orCCWdependingontheconnection).
9. Input
PinNo.
PinName
Description
1
IN2
Inputchannel2.
2
IN1
Inputchannel1.
3
+5V
+5Voutput.Donotconnecttoanother5Vsource.
4
Gnd
Ground.
Warning: The +5V output is designed to power the RC receiver only. Do not connect any
RCservototheRCreceiveranddonotusethe+5Voutputtopoweranyothercircuit.
10. ModeSelectionDIPSwitch–Usedtoselecttheinputmode.
11. LEDPWR–PowerLED.Shouldbeonwhentheboardispowered.
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5.0POWERSUPPLY
SmartDrive40 supports input voltage ranges from 7V to 25V. The recommended power
sourcesare:
●6–18cellsNiMHorNiCdbattery.
●2–6cellsLiPoorLiIonbattery.
●7V–24Vsealedleadacidbattery.
●7V–24Vpowersupply(Mustbeinparallelwithabatterywithsamevoltage).
The power source can be connected to SmartDrive40 either via the DeanT connector, or
soldereddirectlytothepadatthebottomlayer.
NOTE:
1. If a power supply that cannot sink current is being used (bench top and AC to DC
switching power supply), the input voltage will rise when the driver is regenerating
(motor is slowing down). Thus, it is important to connect a battery with same voltage
in parallel with the power supply to absorb the current generated by the motor. Else,
the input voltage might rise to a level where SmartDrive40 will be destroyed
permanently.
2. For application where the current is > 20A, it’s recommended to solder the wire
directlytothepadatbottomlayer.
StepstosolderthewiretotheDeanTconnectorareshownbelow:
TheitemsneededtosolderwiretoDeanTconnectorare:
●Wire
●Shrinkingtube
●FemaleDeanTconnector
1. Before start soldering, identify the polarity of DeanT connector. There are + and –
markingontheDeanTconnector.
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2. Cut and remove the wire insulator. If user needs to solder the wire directly from
battery to DeanT connector, solder one terminal at a time and leave another one
wrapped.
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3. Cut the shrinking tube to ~2cm each. Slide in the shrinking tube into the wire. The
shrinkingtubeisusedtoprotecttheconnectionattheDeanTterminal.
4. Solder the wire to DeanT connector. Be careful while soldering and make sure the
polarityiscorrect.
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5. Cover the connection with shrinking tube and supply heat to it. The shrinking tube
will shrink and cover the connection neatly as shown below. User may use soldering
irontoheattheshrinkingtube.
6. Continuewithanotherterminal.
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Stepstosolderthewiredirectlytothepadatbottomlayerareshownbelow:
1. Identify the polarity of power terminal. There are + and – marking at the bottom layer
ofMDS40A.
2. Cut and remove the wire insulator. Solder one terminal at a time and leave another
onewrapped.
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ProductUser’sManual–MDS40A
3. Solder the wire to the pad at the bottom layer. Be careful while soldering and make
surethepolarityiscorrect.
4. Continuewithanotherterminal.
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5. Belowisanexampleofpowercablebeingsoldereddirectlytothebottomlayer.
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6.0MOTORCONNECTION
Similar to the power supply, connection to the motor can be made either via the terminal
block,oritcanbesoldereddirectlytothebottomlayerpad.
NOTE:
For application where the current is > 20A, it’s recommended to solder the wire directly to
thepadatbottomlayer.
Stepstoconnectthemotorviaterminalblock:
1. Openthecoverforterminalblock.
2. Removethescrewfromtheterminalblock.
3. WrapthewireofDCmotoraroundthescrew.
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4. Putbackthescrewintoterminalblockandtightenthescrew.
5. Repeatstep24foranotherwireofDCmotor.
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6. ThisisanexampleconnectionofDCmotorviaterminalblock.
Stepstosoldermotorconnectiondirectlytothebottomlayerpad:
1. Cutthemotorwireandremovetheinsulator.
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2. Solderthewiretothepadatthebottomlayer.
3. Continuewithanotherterminalasshownbelow.
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7.0SAFETYFEATURES
SmartDrive40 incorporates some safety features which make it a robust and reliable motor
driver.Belowarethedetaileddescriptionsforeachfeature.
a. ReversePolarityProtection
Unlike the other motor driver in the market, SmartDrive40 incorporates 2 extra
MOSFET for reverse polarity protection. Hence, user no longer will see smoke
comingoutfromtheboardifthepowersupplyisconnectedatwrongpolarity.
b. LiPoUnderVoltageWarning(ErrorLEDblinks3times)
Upon power on, SmartDrive40 will automatically detect the number of cells for the
LiPo battery. If the input voltage falls below 3.3V per cell during operation, the error
LED will blink to warn the user. However, the power to the motor will be maintained
and will not be cut out. Thus, it is the user’s responsibility to stop the motor and
replacethebatterytoavoidfurtherdamagetothebattery.
If the other type of battery is used to power the board, the LiPo under voltage warning
will still be shown. In this case, user may ignore the warning and he/she needs to
estimatewhentoreplacethebatterybyhim/herself.
c. OverCurrentProtection(ErrorLEDblinks4times)
If over current is detected for more than 1 second, the current limiting feature will
kick in and limit the motor current to the over current threshold (40A by default). The
current limiting only starts working after 1 second to allow a higher startup current for
themotorwhenitstartsrunning.
Theactualovercurrentthresholdisdependingonthetemperatureoftheboard.
d. OverTemperatureProtection
SmartDrive40 is equipped with a temperature sensor to monitor its operating
temperature. It will gradually lower down the over current and current limiting
thresholdbaseonthetemperatureasshownbelow:
TemperatureRange(
o
C)
OverCurrentThreshold(A)
<110
40
110–120
35
120–130
30
130–140
25
>140
20
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8.0INPUTMODE
When the SmartDrive40 is powered up, both STAT LED and ERR LED will blink together
for 10 times. After that, the input mode will be read from the DIP switch and retained as long
as the driver is powered. If you wish to change the input mode, you will need to change the
settingontheDIPswitchandpowercyclethedriver(Turnitoffandturnitonagain).
In RC or Analog/PWM Input mode, two units of SmartDrive40 may be used together to
control two motors in mixed mode. This is useful to control the robot with differential drive
system where one input controls the speed and forward/backward direction of the robot,
whileanotherinputcontrolstheleft/rightdirectionoftherobot.
SmartDrive40 supports four different types of input mode. The DIP switch settings for each
modeandthefunctionforinputpinaresummarizedasbelow:
Input
Mode
DIPSwitch
(SW1
SW4)
DIPSwitch
(SW5
SW8)
Description
Input1
Input2
RC
0000XXXX
SW5:6
SW7
SW8
Single/MixMode
0X Single
10 Mix(Left)*
11 Mix(Right)*
ExponentialMode
MCUMode
Speed
Steering(Mix
Modeonly)
Analog/
PWM
XX01XXXX
SW1:2
SW5:6
SW7
SW8
Analog/PWMMode
00 Analog
11 PWM
Single/MixMode
0X Single
10 Mix(Left)*
11 Mix(Right)*
ExponentialMode
SignMagnitudeMode
(SingleModeonly).
SW2mustbe0.
Speed
Speed
(SignMagnitudeis
OFF)
Direction
(SignMagnitudeis
ON)
Simplified
Serial
0010XXXX
SW5
SW6:8
N/A
UARTBaudRate
000 1200
001 2400
010 4800
011 9600
100 19200
101 38400
110 57600
111 115200
UARTRx
SlaveSelect
Packetized
Serial
0011XXXX
SW5:8
UART Slave Address
(0x00–0x0f)
UARTRx
N/A
0–OFF 1–ON X–Don’tCare
*Left/Rightisjustforreference.ActualsideofthemotormaydependsontheRCtransmitteroranalog/PWM
input.
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