Cytron Technologies MDS160A User manual
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ProductUser’sManual–MDS160A
Index
1. IntroductionandOverview
2. PackingList
3. ProductSpecifications
4. BoardLayout
5. PowerSupply
6. SafetyFeatures
7. InputModes
7.1RCInputMode
7.2Analog/PWMInputMode
7.3SimplifiedSerialMode
7.4PacketizedSerialMode
8. Warranty
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1.0INTRODUCTIONANDOVERVIEW
SmartDrive160 is one of the latest smart series motor drivers designed to drive high power
brushed DC motor with current capacity up to 160A 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 multiple input mode, current
limitingandthermalprotection.
SmartDrive160 can also be hooked up with another similar unit and operates in pair. This
makedrivingarobotwithdifferentialdriveatrulyplugandplayexperience.
SomeofthefeaturesforSmartDrive160aresummarizedasbelow:
●BidirectionalcontrolforasinglebrushedDCmotor.
●Supportinputvoltagefrom8Vto28V.
●Maximum current up to 190A peak (1 minute), 175A (2 minutes) or 160A
(continuously).
●16KHzswitchingfrequencyforquietoperation.
●LiPobatterylowvoltagewarning.
●Thermalprotection.
●Currentlimitingbaseontemperature.
Below60°C :194A
60°Cto70°C :175A
70°Cto80°C :163A
80°Cto90°C :144A
90°Cto100°C :125A
100°Cto110°C :100A
Above110°C :50A
●Multipleinputmodes:RC,Analog,PWM,SimplifiedSerialandPacketizedSerial.
●Onboardpushbuttonsforfasttestandmanualoperation.
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ProductUser’sManual–MDS160A
2.0PACKINGLIST
Please check the parts and components according to the packing lists. If there are any parts
missing,pleasecontactusat[email protected]immediately.
1. 1xMDS160ASmartDrive160
2. User’sManualcanbedownloadedfromhttp://www.cytron.com.my
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3.0PRODUCTSPECIFICATIONS
No
Parameters
Min
Typical
Max
Unit
1
InputVoltage(MotorSupplyVoltage)
8
28
V
2
I
MAX
(MaximumContinuousMotorCurrent)*
160
A
3
I
PEAK
–(PeakMotorCurrent)*
190
A
4
V
IOH
(LogicInput–HighLevel)**
3
5.5
V
5
V
IOL
(LogicInput–LowLevel)**
0
0
0.5
V
6
5VOutputCurrent
1
A
* Dependsontheroomtemperature.
** NotapplicableforPWMsignalasPWMsignalwillbeconvertedtoanalogvoltage
vialowpassfilterbeforeprocessedbytheprocessor.
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4.0BOARDLAYOUT
ComponentsonMDS160Aandtheirfunctions:
1. PositiveSupplyTerminalConnecttothepowersource(positive).
2. NegativeSupplyTerminalConnecttothepowersource(negative).
3. Motor Terminal A Connect to the moto. Swap with Motor Terminal B if the
directionisincorrect.
4. Motor Terminal B Connect to the moto. Swap with Motor Terminal A if the
directionisincorrect.
5. LED A – Turns on when the Motor Terminal A is high and Motor Terminal B is low.
IndicatesthecurrentflowsfromMotorTerminalAtoB.
6. LED B – Turns on when the Motor Terminal A is low and Motor Terminal B is high.
IndicatesthecurrentflowsfromMotorTerminalBtoA.
7. LED OC – Overcurrent LED. Turn on when the overcurrent is detected and the
currentislimitedbythemotordriver.
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8. LEDERR–ErrorLED.Thenumberofblinksiscorrespondingtotheerror.
NumberofBlinks
Error
Description
Off
NoError
Noerrorhasbeendetected.
2
InputError
Invalidornoinputdetected.
3
LipoUndervoltage
TheLiPobatteryvoltageistoolow.
4
OverVoltage
Overvoltage is detected. The power
source cannot absorb the current
generatedbythemotor.
5
OverTemperature
Theboardtemperatureistoohigh.
9. LEDSTAT–StatusLED.Turnonwhenthemotorisrunning.
10. Test Button B – When this button is pressed, current flows from Motor Terminal B to
AandmotorwillturnCCW(orCWdependingontheconnection).
11. Test Button A – When this button is pressed, current flows from Motor Terminal A to
BandmotorwillturnCW(orCCWdependingontheconnection).
12. 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, mini servo motor and
othercircuitupto1Aonly.
13. ModeSelectionDIPSwitch–Usedtoselecttheinputmode.
14. LEDPWR–PowerLED.Shouldbeonwhentheboardispowered.
15. On/Off Switch An alternative way to turn off the motor power without
disconnectingthepowercable.
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5.0POWERSUPPLY
SmartDrive160 supports input voltage ranges from 8V to 28V. The recommended power
sourcesare:
●7–18cellsNiMHorNiCdbattery.
●3–6cellsLiPoorLiIonbattery.
●12V–24Vsealedleadacidbattery.
●8V–28Vpowersupply(Mustbeinparallelwithabatterywithsamevoltage).
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 SmartDrive160 will be destroyed
permanently.
5.1ConnectingExternalOn/OffSwitch
SmartDrive160includesaterminalblockforexternalon/offswitch.Thisallowsthemotor
powertobeturnedoffwithoutunpluggingthepowercable.
FollowthesestepstoconnectanexternalswitchtotheSmartDrive160:
1. Bydefault,thepinsoftheterminalblockareshortedtogetherbyasolderbridgeatthe
bottomlayerofthePCB.Desolderthebridgewithasolderingiron.
2. Connecttheexternalswitchtotheterminalblock.
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6.0SAFETYFEATURES
SmartDrive160 incorporates some safety features which make it a robust and reliable motor
driver.Belowarethedetaileddescriptionsforeachfeature.
a. LiPoUnderVoltageWarning(ErrorLEDblinks3times)
Upon power on, SmartDrive160 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.
b. OvervoltageProtection(ErrorLEDblinks4times)
When the motor is slowing down, current will be generated and flow back to charge
the battery. However, if the power source cannot absorb the current generated by the
motor, the voltage will rise. If the motor driver detects the rise in voltage, it will slow
down the deceleration of the motor. If the voltage rises to a dangerous level, the motor
will be braked immediately by shorting the 2 motor terminal to prevent any damage to
themotordriver.
c. OvercurrentProtection(OCLEDturnson)
Whenovercurrentoccurs,thecurrentwillbelimitedbyeachPWMcycle.
Theactualovercurrentthresholdisdependingonthetemperatureoftheboard.
d. OverTemperatureProtection(ErrorLEDblinks5times)
SmartDrive160 is equipped with a temperature sensor to monitor its operating
temperature. It will gradually lower down the current limiting threshold base on the
temperature.
TemperatureRange(
o
C)
OverCurrentThreshold(A)
<60
194
6070
175
7080
163
8090
144
90100
125
100110
100
>110
50
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7.0INPUTMODE
When the SmartDrive160 is powered up, 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 power cycle the driver (Turn it off and turn
itonagain).
In RC or Analog/PWM Input mode, two units of SmartDrive160 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.
SmartDrive160 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
Mode)
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
Steering(Mix
Mode)
Direction
(SignMagnitude)
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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7.1RCINPUTMODE
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:TheRCtransmittermustbeturnonbeforepoweruptheSmartDrive160.
RC Input mode is selected by setting all the SW1 – SW4 to 0 (Down). SW5 – SW8 can be
configureddependingontherequirementoftheuser.
InputMode
SW1:SW4
0000
RCInputMode
Single/MixMode
SW5:SW6
0X
10
11
Single Channel Mode – The motor speed and direction are controlled
by a single RC channel connected to Input 1. Motor stops when the
inputsignalisatthecenterpoint.Input2isnotusedinthismode.
Left Mix Mode* – This mode should be selected for the left motor of
the robot differential drive system. Input 1 controls the overall speed as
well as forward/backward movement of the robot. Input 2 controls the
left/right or pivot movement of the robot. In left mix mode, the motor
will be slowed down when the robot is commanded to turn left and vice
versa.
Right Mix Mode* – This mode should be selected for the right motor
of the robot differential drive system. Input 1 controls the overall speed
as well as forward/backward movement of the robot. Input 2 controls
the left/right or pivot movement of the robot. In right mix mode, the
motor will be slowed down when the robot is commanded to turn right
andviceversa.
ExponentialMode
SW7
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 this soften the control
around the center zero speed point. This is suitable for high speed and
verysensitivemotor.
MCUMode
SW8
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 SmartDrive160. 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
*Left/Rightisjustforreferenceonly.ActualsideofthemotormaydependsontheRCtransmitter.
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TablebelowshowsthecommonlyusedDIPswitchsettingsforRCmode.
DIPSwitch
Mode
(00000000)
● RCMode
● SingleChannelMode
● ExponentialOff
● MCUModeOff
(00000010)
● RCMode
● SingleChannelMode
● ExponentialOn
● MCUModeOff
(00001000)
● RCMode
● LeftMixMode
● ExponentialOff
● MCUModeOff
(00001100)
● RCMode
● RightMixMode
● ExponentialOff
● MCUModeOff
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7.2ANALOG/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 SmartDrive160 is turned on. Else, the driver
willshowInputErroruntilthecorrectsignalisavailable.
Analog/PWM input mode is selected by setting SW3 to 0 (Down) and SW4 to 1 (Up). SW1
–SW2andSW5–SW8canbeconfigureddependingontherequirementoftheuser.
PWMMode
SW1:SW2
00
11
Off The input is analog signal. The filter capacitor is not
connected and the input signal is not filtered. SW1 is for Input 1
whileSW2isforInput2.
On 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. SW2 must be set to
0ifSignMagnitudemodeisturnedon.
InputMode
SW3:SW4
01
Analog/PWMInputMode.
Single/MixMode
SW5:SW6
0X
10
11
Single Channel Mode** The motor speed and direction are
controlled by a single channel connected to Input 1. Motor stops
when the input signal is at the center point. Input 2 is not used in
thismode.
Left Mix Mode* This mode should be selected for the left
motor of the robot differential drive system. Input 1 controls the
overall speed as well as forward/backward movement of the
robot. Input 2 controls the left/right or pivot movement of the
robot. In left mix mode, the motor will be slowed down when the
robot is commanded to turn left and vice versa. SW8 must be set
to0.
Right Mix Mode* This mode should be selected for the right
motor of the robot differential drive system. Input 1 controls the
overall speed as well as forward/backward movement of the
robot. Input 2 controls the left/right or pivot movement of the
robot. In right mix mode, the motor will be slowed down when
the robot is commanded to turn right and vice versa. SW8 must
besetto0.
ExponentialMode
SW7
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 this soften the
control around the center zero speed point. This is suitable for
highspeedandverysensitivemotor.
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SignMagnitude
Mode
SW8
0
1
Off – Motor stops when the input signal is 2.5V. Motor moves in
one direction when the input is < 2.5V and in another direction
whentheinputis>2.5V.
On – Input 1 controls the speed of the motor. Motor stops when
the input is 0V and run at full speed when the input is 5V. Input
2 is digital input and it controls the direction of the motor. SW2
mustbesetto0.
0OFF 1ON XDon’tCare
*Left/Rightisjustforreferenceonly.ActualsideofthemotormaydependsontheInputsignal.
** For Watanabe revision, the center value is 3V and motor stops if < 0.8V. Input 2 must be low to enable the
driver.
TablebelowshowsthecommonlyusedDIPswitchsettingsforAnalog/PWMmode.
DIPSwitch
Mode
(00010000)
● AnalogMode
● SingleChannelMode
● ExponentialOff
● SignMagnitudeModeOff
(10010001)
● PWMMode
● SingleChannelMode
● ExponentialOff
● SignMagnitudeModeOn
(11011000)
● PWMMode
● LeftMixMode
● ExponentialOff
● SignMagnitudeModeOff
(11011100)
● PWMMode
● RightMixMode
● ExponentialOff
● SignMagnitudeModeOff
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7.3SIMPLIFIEDSERIALMODE
In Simplified Serial mode, SmartDrive160 is controlled by using the UART interface. Input 1
istheUARTRxpinandInput2istheSlaveSelectpin.
The Slave Select must be HIGH in order for the driver to receive the UART command. If the
Slave Select pin is set to LOW, all the UART data will be ignored. This feature allows
multiple SmartDrive160 to be connected together to a single microcontroller UART port. The
SlaveSelectpinisinternallypulledhighanditmaybeleftunconnectedifnotused.
A single byte of data is all you need to control the speed and direction of the motor. Sending
byte127stopsthemotor,0isfullreverseand255isfullforward.
Simplified Serial mode is selected by setting SW1, SW2 and SW4 to 0 (Down) and SW3 to
1(Up).SW5isnotusedinthismodeandSW6–SW8areusedtoselecttheUARTbaudrate.
InputMode
SW1SW4
0010
SimplifiedSerialMode
UARTBaudRate
SW6SW8
000
001
010
011
100
101
110
111
BaudRate
1200
2400
4800
9600
19200
38400
57600
115200
0OFF 1ON XDon’tCare
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7.4PACKETIZEDSERIALMODE
In Packetized Serial mode, SmartDrive160 is controlled by using the UART interface. Input 1
is the UART Rx pin and Input 2 is not used in this mode. To control the motor, data sent to
the driver must be in 4 bytes packet format which includes a header, address, command and
checksum. Up to 16 units of SmartDrive160 can be connected together to a single
microcontrollerUARTport.
Besides that, the SmartDrive160 also incorporates an AutoBaud feature in Packetized Serial
mode. When the driver is first powered up, the host microcontroller must send a header byte
(Decimal 85) to the driver. The driver will then calculate the baud rate automatically based on
this character. After that, SmartDrive160 is ready for command and the baud rate cannot be
changedwithoutpoweroffandonagain.
NOTE:
1. When the driver is powered up and waiting for the header byte, the error LED will
blinkandindicatethatthereisinputerror.
2. SmartDrive160 may take up to 500ms to start up after power is applied. Sending the
header byte for auto baud during this time period may cause undesirable results. Please
allowaoneseconddelaybetweenapplyingpowerandsendingtheheaderbyte.
Packetized Serial mode is selected by setting SW1, SW2 to 0 (Down) and SW3, SW4 to 1
(Up).SW5–SW8areusedtoselecttheaddress.
InputMode
SW1SW4
0011
PacketizedSerialMode
UARTAddress
SW5SW8
00001111
015
0OFF 1ON XDon’tCare
Apacketconsistsof4bytesandtheformatisshowninthefollowingtable.
Byte
Name
Value(Decimal)
Description
1
Header
85
Toindicatethestartofpacket.
2
Address
015
Used to identify the driver when multiple units are connected
together. The address byte must match the address configured
withtheDIPswitch.
3
Command
0–255
Value 127 stops the motor, 0 is full reverse and 255 is full
forward.
4
Checksum
0–255
Thevalueforchecksummustbetheresultof
Header+Address+Command
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8.0WARRANTY
● Productwarrantyisvalidfor12months.
● Warrantyonlyappliestomanufacturingdefect.
● Damagedcausedbymissuseisnotcoveredunderwarranty
● Warrantydoesnotcoverfreightcostforbothways.
Preparedby
CytronTechnologiesSdn.Bhd.
19,JalanKebudayaan1A,
TamanUniversiti,
81300Skudai,
Johor,Malaysia.
Tel: +6075213178
Fax: +6075211861
URL: www.cytron.com.my
Email:[email protected]
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