Cytron Technologies SmartDrive40 User manual

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Product User’s Manual – MDS40B
Enhanced SmartDrive40
MDS40B
User's Manual
Rev 1.0
December 2015
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Product User’s Manual – MDS40B
INDEX
1. Introduction 3
2. Packing List 4
3. Product Specifications 5
4. Board Layout 6
5. Power Supply 9
6. Motor Connection 10
7. Safety Features 11
8. Input Modes 12
a. RC Input Mode 14
b. Analog/PWM Input Mode 16
c. Simplified Serial Mode 18
d. Packetized Serial Mode 20
9. Warranty 22
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Product User’s Manual – MDS40B
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1. INTRODUCTION
Enhanced SmartDrive40 is an enhancement version of SmartDrive40 which is 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 multiple input mode, current limiting and thermal protection.
Enhanced SmartDrive40’s feature makes driving a robot with differential drive a truly plug
and play experience.
Some of the features for Enhanced SmartDrive40 are summarized as below:
●Bi-directional control for dual brushed DC motor.
●Support motor voltage from 10V to 45V.
●Maximum current up to 80A peak (1 second), 40A continuously.
●On board MOSFETs are switched at 16 KHz for quiet operation.
●Battery low voltage indicator.
●Battery over voltage indicator.
●Thermal protection.
●Multiple input modes: RC, Analog, PWM, Simplified Serial and Packetized Serial.
●On board push buttons for fast test and manual operation.
●No polarity protection for V motor.
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2. PACKING LIST
Please check the parts and components according to the packing list. If there are any parts
missing, please contact us at [email protected] immediately.
●1 x Enhanced SmartDrive40 with top and bottom cover.
●2 x 2561 Servo Extension cable
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3. PRODUCT SPECIFICATIONS
Dimension:
Absolute Maximum Rating of Enhanced SmartDrive40
No
Parameters
Min
Typical
Max
Unit
1
Input Voltage (Motor Supply Voltage)
10
-
45
V
2
IMAX (Maximum Continuous Motor Current)*
-
-
40
A
3
IPEAK – (Peak Motor Current) **
-
-
80
A
4
VIOH (Logic Input – High Level)
1.3
-
5
V
5
VIOL (Logic Input – Low Level)
0
-
0.7
V
6
5V Output Current
-
-
500
mA
* Depends on the room temperature.
** Must not exceed 1 second.
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4. BOARD LAYOUT
Label
Function
A
Power Supply Terminal block
B
Motor Terminal Block
C
Motor LED Indicator
D
Fan Input Pin
E
Analog/PWM/Serial Input Terminal Block
F
RC Input Pin
G
Reset Button
H
Motor Test Button
I
Motor Test Button
J
Run LED
K
Error (ERR) LED
L
Mode Selection DIP Switch
M
Power Switch Terminal Block
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Product User’s Manual – MDS40B
FUNCTION Description:
Motor Terminal Block
Connect to motor 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 thickness to
support the expected current.
Power Supply Terminal Block
Connect to power source. User can screw to lock the wire to the terminal block or solder the
wire directly to the pad at bottom layer. No polarity protection, please double check before
power up. Please use wire with proper thickness to support the expected current.
MotorLED Indicator
Indication for current flow and direction for motor. If LED A turns on, means current flows
from output A to B. Vice versa.
Power Switch Terminal Block
Switch for power up MDS40B’s microcontroller and logic circuit. This switch is ON by
default.
Run and Error LED
Run LED will turn on when motor is running.
Error LED
Number of Blinks
Error
Description
Off
No Error
No error has been detected.
2
Input Error
Invalid or no input detected.
3
Under Voltage
The battery voltage is low.
4
Over Voltage
Supply voltage is over the limit. MDS40B
will not operate.
5
Over Temperature
Board temperature is high.
Test Button
Fast test to check driver functionality for motor. If A is pressed, current flows from output A
to B. Vice Versa.
Mode Selection DIP Switch
User can select different input mode by setting the DIP switch.
RC Input Pin
This pins specially for RC receiver input wire. RC1 for forward/reverse and RC2 for steering.
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Analog/PWM/Serial Input Terminal Block
No
Pin Name
Description
1
GND
Ground.
2
5V
+5V output. Do not connect to another 5V source.
3
IN1
Input 1.
4
IN2
Input 2.
*Please refer to INPUT MODE section for more detail.
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5. POWER SUPPLY
Enhanced SmartDrive40 supports input voltage ranges from 10V to 45V. The recommended
power sources are:
●6 – 18 cells NiMH or NiCd battery.
●3 – 6 cells LiPo or Li-Ion battery.
●10V – 45V sealed lead acid battery.
●10V – 45V power supply (Must be in parallel with a battery with same voltage).
The power source can be connected to Enhanced SmartDrive40 either via the terminal block,
or soldered directly to the pad at the bottom layer. There is no polarity protection on
MDS40B, please double check the connection before connecting to power source.
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 Enhanced SmartDrive40 will be destroyed
permanently or the power supply trigger protection mode.
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6. MOTOR CONNECTION
Similar to the power supply, connection to the motor can be made either via the terminal
block, or it can be soldered directly to the bottom layer pad.
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
give wrong direction, reverse the polarity of the motor connection at the terminal block.
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Product User’s Manual – MDS40B
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7. SAFETY FEATURES
Enhanced SmartDrive40 incorporates some safety features which make it robust and reliable
motor driver. Below are the detailed descriptions for each feature.
a. Input Error (Error LED blinks 2 times)
Every time Enhanced SmartDrive40 is power up, the input data must be ‘stop’ (for
RC, Analog, PWM input mode). This feature prevent the driver from sudden run,
especially when the driver accidently reset.
b. Under Voltage Warning (Error LED blinks 3 times)
Upon power on, Enhanced SmartDrive40 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 needs to estimate when to replace the battery by him/herself.
c. Over Voltage Protection (Error LED blinks 4 times)
If over voltage is detected (> 45V), Enhanced SmartDrive40 will not operate.
d. Over Temperature Protection (Error LED blinks 5 times)
Enhanced SmartDrive40 is equipped with a temperature sensor to monitor its
operating temperature. It will gradually lower down the duty cycle percentage base on
the temperature as shown below:
Temperature Range (oC)
Current (A)
< 50
80
50 – 70
50
70 – 100
45
100 – 110
40
> 110
35
Note: MDS40B does not come with polarity protection, please double check the
connection before powering up.
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8. INPUT MODE
When the Enhanced SmartDrive40 is powered up, RUN LED, ERR LED and OC 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
(Turn it off and turn it on again).
Enhanced SmartDrive40 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
on the following page.
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8.1 RC INPUT MODE
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
similar signal.
NOTE: The RC transmitter must be ON before power up the Enhanced SmartDrive40.
RC Input mode is selected by setting the SW1 & SW2 to 0 (Down). SW3 – SW6 can be
configured depending on the requirement of the user.
Input Mode
SW1:SW2
00
RC Input Mode
Single/Mix Mode
SW3:SW4
00
10
11
Independent – The motor speed and direction are controlled by a single
RC channel connected to Input 1. Motor stops when the input signal is
at the center point. Input 2 is not used in this mode.
Mixed Right – 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.
Mixed Left – 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.
Exponential Mode
SW5
0
1
Off – The speed is linear with the input signal. This is for low to
medium speed motor.
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
very sensitive motor.
MCU Mode
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
safety purpose.
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 Enhanced SmartDrive40. 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’t Care
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Figures below show the connection in RC mode for Single Channel Mode. Input 1 is
connected to either a RC Receiver or a microcontroller generating the RC pulse.
RC Mode with RC Transmitter/Receiver (Independent), DIP switch
1 2 3 4 5 6 7 8
0 0 0 0 0 0 0 0
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RC Mode with RC Transmitter/Receiver (Mixed Right), DIP switch
1 2 3 4 5 6 7 8
0 0 1 0 0 1 0 0
RC Mode with RC Transmitter/Receiver (Mixed Left), DIP switch
1 2 3 4 5 6 7 8
0 0 1 1 0 1 0 0
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8.2 ANALOG/PWM INPUT MODE
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 Sign-Magnitude mode is off,
0V otherwise) must be available when the Enhanced SmartDrive40 is turned on. Else, the
driver will show Input Error until the correct signal is available.
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
configured depending on the requirement of the user.
Input Mode
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.
SW1 is for Input 1 while SW2 is for Input 2.
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.
SW2 must be set to 0 if Sign-Magnitude mode is turned on.
Single/Mix Mode
SW3:SW4
00
10
11
Independent – 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 this
mode.
Mixed Right – 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 be set to 0.
Mixed Left – 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 to 0.
Exponential Mode
SW5
0
1
Off – The speed is linear with the input signal. This is for low to
medium speed motor.
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 very sensitive motor.
Sign-Magnitude
SW6
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Mode
0
1
Locked Anti-Phase – 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
mode if controlled using Breakout board with Joystick soldered.
Signed Magnitude – 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 must be set to 0.
0 - OFF 1 - ON X - Don’t Care
* Left/Right is just for reference only. Actual side of the motor may depends on the Input signal.
Figures below show the connection in analog/PWM input mode.
Analog input mode with Joystick board (Mixed), DIP switch
DIP Switch Setting
1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8
0 1 1 1 0 0 0 0 0 1 1 0 0 0 0 0
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PWM input mode with microcontroller (Independent Both), DIP switch
DIP Switch Setting
1 2 3 4 5 6 7 8
1 0 0 0 0 1 0 0
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8.3 SERIAL SIMPLIFIED MODE
In Simplified Serial mode, Enhanced SmartDrive40 is controlled by using the UART
interface. Input 1 is the UART Rx pin and Input 2 is the Slave Select pin.
A single byte of data is all you need to control the speed and direction of the motor. Sending
byte 127(decimal) 0r 0b01111111(binary) stops the motor, 0 is full reverse and 255 (decimal)
is full forward.
Simplified Serial mode is selected by setting SW1, SW2 to 1 (Up) and SW3 to 0 (Down).
SW4 – SW6 are used to select the UART baud rate.
Input Mode
SW1 - SW3
110
Simplified Serial Mode
UART Baud Rate
SW4 - SW6
000
001
010
011
100
101
110
111
Baud Rate
1200
2400
4800
9600
19200
38400
57600
115200
0 - OFF 1 - ON X - Don’t Care
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