Cytron Technologies SmartDriveDuo-60 User manual
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ProductUser’sManual–MDDS60
INDEX
1. Introduction 3
2. PackingList 4
3. ProductSpecifications 5
4. BoardLayout 6
5. PowerSupply 9
6. MotorConnection 10
7. HardwaresetupforexternalPowerSwitch 11
8. SafetyFeatures 13
9. InputModes 15
a. RCInputMode 17
b. Analog/PWMInputMode 20
c. SimplifiedSerialMode 24
d. PacketizedSerialMode 26
10. Warranty 28
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ProductUser’sManual–MDDS60
1.INTRODUCTION
SmartDriveDuo60 is one of the latest smart series motor drivers designed to drive medium
power brushed DC motor with current capacity up to 100A peak (few seconds) and 60A
continuously, each channel. This driver is designed specially for controlling differential drive
mobile robot using RC controller. Nevertheless, MDDS60 also can be controlled using
analog joystick or microcontroller (PWM, Serial). 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 multiple input mode and thermal
protection.
SmartDriveDuo60’s feature makes driving a robot with differential drive a truly plug and
playexperience.
SomeofthefeaturesforSmartDriveDuo60aresummarizedasbelow:
●BidirectionalcontrolfordualbrushedDCmotor.
●Supportmotorvoltagefrom10Vto45V.
●Maximumcurrentupto100Apeak(1second),60Acontinuously,eachchannel.
●OnboardMOSFETsareswitchedat16KHzforquietoperation.
●Batterylowvoltageindicator.
●Batteryovervoltageindicator.
●Thermalprotection.
●Multipleinputmodes:RC,Analog,PWM,SimplifiedSerialandPacketizedSerial.
●Onboardpushbuttonsforfasttestandmanualoperation.
●NopolarityprotectionforVmotor.
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2.PACKINGLIST
Please check the parts and components according to the packing list. If there are any parts
missing,pleasecontactusat[email protected]immediately.
● 1xSmartDriveDuo60withtopandbottomcover.
● 2x2561ServoExtensioncable
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3.PRODUCTSPECIFICATIONS
Dimension:
AbsoluteMaximumRatingofSmartDriveDuo60
No
Parameters
Min
Typical
Max
Unit
1
InputVoltage(MotorSupplyVoltage)
10
45
V
2
I
MAX
(MaximumContinuousMotorCurrent)*
60
A
3
I
PEAK
–(PeakMotorCurrent)**
100
A
4
V
IOH
(LogicInput–HighLevel)
1.3
5
V
5
V
IOL
(LogicInput–LowLevel)
0
0.7
V
6
5VOutputCurrent
500
mA
* Dependsontheroomtemperature.
** Mustnotexceed1second.
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ProductUser’sManual–MDDS60
4.BOARDLAYOUT
Label
Function
A
MotorLEFTTerminalBlock
B
PowerSupplyTerminalblock
C
MotorRIGHTTerminalBlock
D
MotorLEFTLEDIndicator
E
MotorRIGHTLEDIndicator
F
PowerSwitchTerminalBlock
G
CoolingFan
H
RunandErrorLED
I
MotorLEFTTestButton
J
MotorRIGHTTestButton
K
ModeSelectionDIPSwitch
L
RCInputPin
M
Analog/PWM/SerialInputTerminalBlock
*Note:ForBLUEfont,thecomponentislocatedatmiddleboard.
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FUNCTIONDescription:
MotorLEFTTerminalBlock
Connect to motor LEFT at your mobile robot. User can screw to lock the wire to the terminal
block or solder the wire directly to the pad at bottom layer. Please use wire with proper
thicknesstosupporttheexpectedcurrent.
PowerSupplyTerminalBlock
Connecttopowersource.Usercanscrewtolockthewiretotheterminalblockorsolderthe
wiredirectlytothepadatbottomlayer.Nopolarityprotection,pleasedoublecheckbefore
powerup.Pleaseusewirewithproperthicknesstosupporttheexpectedcurrent.
MotorRIGHTTerminalBlock
Connect to motor RIGHT at your mobile robot. User can screw to lock the wire to the
terminal block or solder the wire directly to the pad at bottom layer. Please use wire with
properthicknesstosupporttheexpectedcurrent.
MotorLEFTLEDIndicator
Indication for current flow and direction for motor LEFT. If LED MLA turns on, means
currentflowsfromoutputMLAtoMLB.Viceversa.
MotorRIGHTLEDIndicator
IndicationforcurrentflowanddirectionformotorRIGHT.IfLEDMRAturnson,means
currentflowsfromoutputMRAtoMRB.Viceversa.
PowerSwitchTerminalBlock
Switch for power up MDDS60’s microcontroller and logic circuit. This switch is ON by
default.UserneedtocutthePCBtrackatthebottomlayerofPCBtoutilizethisterminal.
CoolingFan
OnceMDDS60ispoweredup,thisfanwillblowtheboard.
RunandErrorLED
RUN_L: Turns on when motor LEFT is running. If signal error received for motor LEFT, it
willblink.
RUN_R: Turns on when motor RIGHT is running. If signal error received for motor RIGHT,
itwillblink.
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ErrorLED
NumberofBlinks
Error
Description
Off
NoError
Noerrorhasbeendetected.
2
InputError
Invalidornoinputdetected.
3
UnderVoltage
Thebatteryvoltageislow.
4
OverVoltage
Supplyvoltageisoverthelimit.MDDS60
willnotoperate.
5
OverTemperature
Boardtemperatureishigh.
6
Shutdown
Boardtemperatureistoohigh!Motor
automaticallystop.
MotorLEFTTestButton
Fast test to check driver functionality for motor LEFT. If A is pressed, current flows from
outputAtoB.ViceVersa.
MotorRIGHTTestButton
Fast test to check driver functionality for motor RIGHT. If A is pressed, current flows from
outputAtoB.ViceVersa.
ModeSelectionDIPSwitch
UsercanselectdifferentinputmodebysettingtheDIPswitch.
RCInputPin
ThispinsspeciallyforRCreceiverinputwire.RC1forforward/reverseandRC2forsteering.
Analog/PWM/SerialInputTerminalBlock
No
PinName
Description
1
DIG1*
1:Digitalsignal(Direction)formotorLEFT.
2:SerialSimplified,SerialPacketized.
2
DIG2
Digitalsignal(Direction)formotorRIGHT.
3
AN1
Analog/PWMsignalformotorLEFT.
4
AN2
Analog/PWMsignalformotorRIGHT.
5
+5V
+5Voutput.Donotconnecttoanother5Vsource.
6
GND
Ground.
*DIG1canaccept2typesofinput.
**PleaserefertoINPUTMODEsectionformoredetail.
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ProductUser’sManual–MDDS60
5.POWERSUPPLY
SmartDriveDuo60 supports input voltage ranges from 10V to 45V. The recommended power
sourcesare:
●6–18cellsNiMHorNiCdbattery.
●3–6cellsLiPoorLiIonbattery.
●10V–45Vsealedleadacidbattery.
●10V–45Vpowersupply(Mustbeinparallelwithabatterywithsamevoltage).
The power source can be connected to SmartDriveDuo60 either via the terminal block, or
soldered directly to the pad at the bottom layer. There is no polarity protection on
MDDS60,pleasedoublechecktheconnectionbeforeconnectingtopowersource.
NOTE:
1. If a power supply that cannot sink current is being used (example: 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 SmartDriveDuo60 will be destroyed
permanentlyorthepowersupplytriggerprotectionmode.
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ProductUser’sManual–MDDS60
6.MOTORCONNECTION
Similar to the power supply, connection to the motor can be made either via the terminal
block,oritcanbesoldereddirectlytothebottomlayerpad.
For Mixed mode, especially for RC input mode (or Breakout board with Joystick soldered),
each terminal block must be connected to the same side of the motor. For example, left
terminal block connected to motor LEFT and right terminal block connected to motor
RIGHT. User can further test it by controlling the motor by using RC controller. If the motor
givewrongdirection,reversethepolarityofthemotorconnectionattheterminalblock.
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7.HARDWARESETUPFOREXTERNALPOWERSWITCH
As shown in the picture above, there is terminal block for external power switch. Here are the
stepsonhowtoaddexternalpowerswitch.
1) ConnectSwitchtotheterminalblock.
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ProductUser’sManual–MDDS60
8.SAFETYFEATURES
SmartDriveDuo60 incorporates some safety features which make it robust and reliable motor
driver.Belowarethedetaileddescriptionsforeachfeature.
a. InputError(ErrorLEDblinks2times)
Every time SmartDriveDuo60 is power up, the input data must be ‘stop’ (for RC,
Analog, PWM input mode). This feature prevent the driver from sudden run,
especiallywhenthedriveraccidentlyreset.
b. UnderVoltageWarning(ErrorLEDblinks3times)
Upon power on, SmartDriveDuo60 will automatically detect the number of cells for
the battery. If it is set to LiPo, when the input voltage falls below 3.0V 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 user’s responsibility to stop the
motor driving and replace battery to avoid further damage to the battery. If other types
of battery is used to power the board (e.g NiMH, NiCD, SLA), the under voltage
warning will still be shown. In this case, user may ignore the warning and he/she
needstoestimatewhentoreplacethebatterybyhim/herself.
c. OverVoltageProtection(ErrorLEDblinks4times)
Ifovervoltageisdetected(>45V),SmartDriveDuo60willnotoperate.
d. OverTemperatureProtection(ErrorLEDblinks5times)
SmartDriveDuo60 is equipped with a temperature sensor to monitor its operating
temperature. It will gradually lower down the duty cycle percentage base on the
temperatureasshownbelow:
TemperatureRange(
o
C)
DutyCycle(%)
<50
100
50–55
90
55–60
80
60–65
70
65–70
60
70–80
50
80–85
40
85–90
30
90–95
20
95–100
10
100–105
5
>105
0(Shutdown)
e. Shutdown(ErrorLEDblinks6times)
Shutdown will occur when SmartDriveDuo60 temperature become too high
(temperature > 105
o
C). As a result, motor will stop automatically. The driver for
respectivechannelstartsoperateagainwhentemperaturedecreaselessthan70
o
C.
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Note:MDDS60doesnotcomewithpolarityprotection,pleasedoublecheckthe
connectionbeforepoweringup.
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ProductUser’sManual–MDDS60
9.INPUTMODE
When the SmartDriveDuo60 is powered up, RUNL LED, ERR LED and RUNR LED will
running once. 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 setting on the DIP switch and press the “RST” reset button, or power cycle the driver
(Turnitoffandturnitonagain).
SmartDriveDuo60 supports four different types of input mode (RC, Analog, PWM and
Serial). The DIP switch settings for each mode and the function for input pin are summarized
onthefollowingpage.
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9.1RCINPUTMODE
In RC input mode, the speed and direction of the motor is controlled by the signal from the
standard hobby radio control transmitter and receiver, or a microcontroller generating the
similarsignal.
NOTE:TheRCtransmittermustbeONbeforepoweruptheSmartDriveDuo60.
RC Input mode is selected by setting the SW1 & SW2 to 0 (Down). SW3 – SW6 can be
configureddependingontherequirementoftheuser.
InputMode
SW1:SW2
00
RCInputMode
Single/MixMode
SW3:SW4
00
01
10
11
Mixed – The motor speed is controlled by channel RC1 and direction is
controlled by channel RC2. Recommended this mode if controlled
usingRCtransmitter/receiver.
Independent Right – Only motor Right will active, motor Left will
inactive.MotorRightiscontrolledbychannelRC2.
Independent Left – Only motor Left will active, motor Right will
inactive.MotorRightiscontrolledbychannelRC1.
Independent Both Both motor is active and can be controlled
individually through channel RC1 and RC2. Recommended this mode if
controlledusingMicrocontroller.
ExponentialMode
SW5
0
1
Off – The speed is linear with the input signal. This is for low to
mediumspeedmotor.
On –The response to input is exponential and thus soften the control
around the center zero speed point. This is suitable for high speed and
verysensitivemotor.
MCUMode
SW6
0
1
Off – The center point will be calibrated upon power up. Timeout
occurs after lost of signal for 100ms and the motor will be stopped for
safetypurpose.
On – The center point is fixed at 1.5ms and the timeout feature is
disabled. Motor will continue to run with previous speed if new signal
is not detected. This is useful when a microcontroller is used to control
the motor. The microcontroller does not need to send the pulse
continuously to the SmartDriveDuo60. Instead, it only needs to send a
single pulse when the speed or direction of the motor needs to be
changed.
0–OFF 1–ON X–Don’tCare
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FiguresbelowshowtheconnectioninRCmode.
RCModewithRCTransmitter/Receiver(Mixed),DIPswitch
1 2 3 4 5 6 7 8
0 0 0 0 0 0 0 0
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9.2ANALOG/PWMINPUTMODE
In Analog/PWM input mode, the speed and direction of the motor is controlled by the analog
voltage or PWM signal. The valid input range is 0 – 5V and it’s very easy to control by using
a potentiometer. For example, the motor can be controlled by a joystick or foot pedal with
potentiometer.
NOTE: The Analog/PWM signal to stop the motor (2.5V if SignMagnitude mode is off,
0V otherwise) must be available when the SmartDriveDuo60 is turned on. Else, the driver
willshowInputErroruntilthecorrectsignalisavailable.
Analog input mode is selected by setting SW1 to 0 (Down) and SW2 to 1 (Up). PWM input
mode is selected by setting SW1 to 1 (Up) and SW2 to 0 (Down). SW3 – SW6 can be
configureddependingontherequirementoftheuser.
InputMode
SW1:SW2
01
10
Analog Input Mode – The input is analog signal. The filter
capacitor is not connected and the input signal is not filtered.
SW1isforInput1whileSW2isforInput2.
PWM Input Mode – The input is PWM signal. The filter
capacitor is connected and the input signal is low pass filtered to
be an analog signal. SW1 is for Input 1 while SW2 is for Input 2.
SW2mustbesetto0ifSignMagnitudemodeisturnedon.
Single/MixMode
SW3:SW4
00
01
10
11
Mixed – The motor speed is controlled by channel RC1 and
direction is controlled by channel RC2. Recommended this mode
ifcontrolledusingBreakoutboardwithJoysticksoldered.
Independent Right – Only motor Right will active, motor Left
willinactive.MotorRightiscontrolledbychannelRC2.
Independent Left – Only motor Left will active, motor Right
willinactive.MotorRightiscontrolledbychannelRC1.
Independent Both Both motor is active and can be controlled
individually through channel RC1 and RC2. Recommended this
modeifcontrolledusingMicrocontroller.
ExponentialMode
SW5
0
1
Off – The speed is linear with the input signal. This is for low to
mediumspeedmotor.
On –The response to input is exponential and thus soften the
control around the center zero speed point. This is suitable for
highspeedandverysensitivemotor.
SignMagnitude
Mode
SW6
0
1
Locked AntiPhase – Motor stops when the input signal is 2.5V.
Motor moves in one direction when the input is < 2.5V and in
another direction when the input is > 2.5V. Recommended this
modeifcontrolledusingBreakoutboardwithJoysticksoldered.
Signed Magnitude – AN1 and AN2 controls the speed of the
motor. Motor stops when the input is 0V and run at full speed
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