Cytron Technologies SmartDriveDuo-30 User manual

SmartDriveDuo-30
MDDS30
User’s Manual
Rev 1.11
July 2019
Informaon contained in this publicaon regarding device applicaons and the like is intended through
suggeson only and may be superseded by updates. It is your responsibility to ensure that your applicaon
meets with your specificaons. No representaon or warranty is given and no liability is assumed by Cytron
Technologies Incorporated with respect to the accuracy or use of such informaon or infringement of
patents or other intellectual property rights arising from such use or otherwise. Use of Cytron Technologies’s
products as crical components in life support system is not authorized except with express wrien approval
by Cytron Technologies. No licenses are conveyed, implicitly or otherwise, under any intellectual property
rights.

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Product User’s Manual - MDDS30
INDEX
1. INTRODUCTION
2. PACKINGLIST
3. PRODUCTSPECIFICATIONS
4. BOARDLAYOUT
5. POWERSUPPLY
6. MOTORCONNECTION
7. SAFETYFEATURES
8. INPUTMODES
8.1. RC (Radio Control)
8.2. Microcontroller Analog/PWM
8.3. Serial Simpliied
8.4. Serial Packetized
9. WARRANTY
PAGES
2
3
4
6
8
9
10
11
13
15
17
19
21
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Product User’s Manual - MDDS30
1. INTRODUCTION
SmartDriveDuo-30 is one of the latest smart series motor drivers designed to drive medium
power brushed DC motor with current capacity up to 80A peak (few seconds) and 30A
connuously, each channel. This driver is designed specially for controlling differenal drive
mobile robot using RC controller. Nevertheless, MDDS30 also can be controlled using analog
joysck or microcontroller (PWM, Serial). MOSFETs are switched at 18 KHz to ensure quiet
operaon and no annoying whining sound. Besides, it also equipped with a microcontroller
unit to provide smart features such as mulple input mode and thermal protecon.
“SmartDriveDuo-30’s feature makes driving a robot with
differential drive a truly plug and play experience”
Some of the features for SmartDriveDuo-30 are summarized as below:
● Bi-direconal control for dual brushed DC motor.
● Support motor voltage from 7V to 35V.
● Maximum current up to 80A peak (1 second), 30A connuously, each channel.
● On board MOSFETs are switched at 18 KHz for quiet operaon.
● Baery low voltage indicator.
● Baery over voltage indicator.
● Thermal protecon.
● Current limit protecon.
● Mulple input modes: RC, Analog/PWM, Serial Simplified and Serial Packezed.
● On board push buons for fast test and manual operaon.
● NO POLARITY PROTECTION FOR V MOTOR.
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Product User’s Manual - MDDS30
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.
No
ITEMS
QUANTITY
1
SmartDriveDuo-30 (Code: MDDS30 )
1
2
Grove 4 Pin Buckled 20cm Cable (Code: WR-EX-GROVE )
2
3
2561 3 Ways Connector Extension Wire (Code: WR-EX-2561-03 )
2
Oponal External Fan (Not included):
No
ITEMS
QUANTITY
1
DC5V Brushless Fan 40 x 40 x 20mm (Code: FAN-05-040040020 )
1
2
PCB Stand (Screw & Screw) 30mm (Code: SD-SS-30 )
4
3
Bolt M3 x 25mm (Code: HD-PM-M3-25 )
4
4
M3 Nut (Code: HD-PM-M3-NUT )
4
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Product User’s Manual - MDDS30
3. PRODUCT SPECIFICATIONS
Dimension (unit in mm):
● MDDS30 main board.
● MDDS30 height.
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Product User’s Manual - MDDS30
MDDS30 boom cover:
Absolute Maximum Rang of SmartDriveDuo-30:
No
PARAMETERS
Min
Typ
Max
Unit
1
Input Voltage (Motor Supply Voltage)
7
–
35
V
2
I
MAX (Max Connuous Motor Current) *
–
–
30
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
* Depends on the room temperature.
**Must not exceed 1 second.
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Product User’s Manual - MDDS30
4. BOARD LAYOUT
LABEL
FUNCTION
A
MOTOR RIGHT LED INDICATOR
Indicaon for current flow and direcon for motor RIGHT. If LED MRA turns on, means current
flows from output MRA to MRB. Vice versa.
B
MOTOR RIGHT TERMINAL BLOCK
Connect to motor RIGHT at your mobile robot. User can screw to lock the wire to the terminal
block. Please use wire with proper thickness to support the expected current.
C
POWER SUPPLY TERMINAL BLOCK
Connect to baery power source. User can screw to lock the wire to the terminal block. NO
POLARITY PROTECTION , please double check the connecon before power up. Please use wire
with proper thickness to support the expected current.
D
MOTOR LEFT TERMINAL BLOCK
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 the boom layer. Please use wire with proper
thickness to support the expected current.
E
MOTOR LEFT LED INDICATOR
Indicaon for current flow and direcon for motor LEFT. If LED MLA turns on, means current
flows from output MLA to MLB. Vice versa.
F
COOLING FAN CONNECTOR
Oponal cooling fan (not included) can be connected here and mounted at the boom PCB. Pin
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Product User’s Manual - MDDS30
arrangement from le to right are as follows: NC, +ve (5V), -ve. The fan will be automacally ON
when the board’s temperature exceeds 50°C.
G
HEAT SINK
This area might be hot, please be careful.
H
RIGHT CHANNEL LED INDICATOR
RUN - Turns on when motor RIGHT is running. If signal error received for motor RIGHT, it will
blink.
ERR - Blinks at specific count if there have an error.
OC - Light up if overcurrent happened.
I
LEFT CHANNEL LED INDICATOR
RUN - Turns on when motor LEFT is running. If signal error received for motor LEFT, it will blink.
ERR - Blinks at specific count if there have an error.
OC - Light up if overcurrent happened.
J
POWER LED INDICATOR
Indicaon for board’s power.
K
MOTOR LEFT TEST BUTTON
Fast test to check driver funconality for motor LEFT. If MLA is pressed, current flows from
output MLA to MLB. Vice Versa.
L
MOTOR RIGHT TEST BUTTON
Fast test to check driver funconality for motor RIGHT. If MRA is pressed, current flows from
output MRA to MRB. Vice Versa.
M
RC INPUT PIN
This pins specially for RC receiver input wire. RC1 for forward/reverse and RC2 for steering.
N
ANALOG/PWM INPUT PIN (GROVE)
AN1 - Analog/PWM signal for motor LEFT.
AN2 - Analog/PWM signal for motor RIGHT.
NC - Not Connected
O
DIGITAL/SERIAL INPUT PIN (GROVE)
IN1 - Digital signal (direcon) for motor LEFT, or can be used for Serial mode.
IN2 - Digital signal (direcon) for motor RIGHT.
NC - Not Connected
P
MODE SELECTION DIP SWITCH
User can select different input mode by seng the DIP switch.
Q
RESET BUTTON
Press this buon will restart the system. This is useful if you want to change mode without
recycle power (turn off and on).
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Product User’s Manual - MDDS30
5. POWER SUPPLY
SmartDriveDuo-30 supports baery with input voltage ranges from 7V to 35V. The
recommended power sources are:
● 6 – 18 cells NiMH or NiCd baery.
● 3 – 6 cells LiPo or Li-Ion baery.
● 7V – 35V sealed lead acid baery.
● 7V – 35V power supply. MUST BE IN PARALLEL WITH A BATTERY WITH SAME VOLTAGE
The power source can be connected to SmartDriveDuo-30 either via the terminal block, or
soldered directly to the pad at the boom layer. THERE IS NO POLARITY PROTECTION ON
MDDS30, PLEASE DOUBLE CHECK THE CONNECTION BEFORE CONNECTING TO THE
BATTERY.
NOTE
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 regenerang (motor
is slowing down, or being pushed by external force). Thus, it is important to connect a
baery 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
SmartDriveDuo-30 can’t handle and it will be destroyed permanently or the power supply
trigger protecon mode.
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Product User’s Manual - MDDS30
6. MOTOR CONNECTION
Similar to the power supply, connecon to the motor can be made either via the terminal
block, or it can be soldered directly to the boom layer pad.
For MIXED mode, especially for RC input mode , each terminal block must be connected to
the same side of the motor. For example, le 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 direcon, reverse the polarity of the
motor connecon at the terminal block.
WARNING!
IF YOU’RE DEVELOPING A MOBILE ROBOT, PLEASE TAKE NOTE ON THIS:
Pushing the robot without connecng the baeries to the driver is very risky and might
burn the motor driver. When the robot is being pushed, power will be generated by the
motor. If the baery is connected, the generated power will flow to the baery and charge
it. If the baery is not connected, the generated power has nowhere to go and the
voltage will rise. If the generated voltage is higher than what the motor driver can
handle, components may burn!
This condion is categorized under misuse, and
DAMAGED CAUSED BY MISUSE IS NOT COVERED UNDER WARRANTY
What you can do to move your robot from one place to another?
1. If you plan to push/pull the robot, please make sure the baeries is connected to the
motor driver* or
2. disconnect the motor from the motor driver.
3. Use trolley to carry your robot. (Recommended)
* You will feel difficult to push the robot, because the motor driver is in brake state.
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Product User’s Manual - MDDS30
7. SAFETY FEATURES
SmartDriveDuo-30 incorporates some safety features which make it robust and reliable
motor driver. Below are the detailed descripons for each feature.
1. InputError ( ErrorLED blinks 2 times)
Every me SmartDriveDuo-30 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.
2. UnderVoltageWarning ( ErrorLED blinks 3 times)
Upon power on, SmartDriveDuo-30 will automacally detect the number of cells for the
baery. If it is set to LiPo, when the input voltage falls below 3.0V per cell during
operaon, 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 baery to avoid further damage to the baery. If other types
of baery is used to power the board (e.g NiMH, NiCD, SLA), the under voltage warning
will sll be shown. In this case, user may ignore the warning and he/she needs to
esmate when to replace the baery by him/herself.
3. OverVoltageProtection ( ErrorLED blinks 4 times)
If over voltage is detected (> 35V), SmartDriveDuo-30 will not operate.
4. OverTemperatureProtection ( ErrorLED blinks 5 times)
SmartDriveDuo-30 is equipped with a temperature sensor to monitor its operang
temperature. It will gradually lower down the duty cycle percentage base on the
temperature as shown below:
TEMPERATURE(°C)
MAXCURRENT(A)
< 50
80
50 - 70
50
70 - 100
40
> 100
30
WARNING!
MDDS30 does not come with REVERSE POLARITY PROTECTION, please double check the
connecon before powering up.
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Product User’s Manual - MDDS30
8. INPUT MODES
When the SmartDriveDuo-30 is powered up, RUN (Le), ERR (Le), RUN (Right) and ERR
(Right) LEDs will running once. Aer 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 seng on the DIP switch and press the RESET buon , or power cycle the
driver (turn it off and turn it on again).
NOTE
In Jan 2019 , MDDS30 is released as Rev1.10 . The firmware is updated. Please check
secon 8.1 RC (Radio Controlled) for the detailed update. There is Revision scker on
MDDS30 Rev1.10 as shown below.
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Product User’s Manual - MDDS30
SmartDriveDuo-30 supports four different types of input mode:
1. RC (Radio Control).
2. Microcontroller Analog/PWM.
3. Serial Simplified.
4. Serial Packezed.
The DIP switch sengs for each mode and the funcon for input pin are summarized on the
table below.
DIP Switch
1
2
3
4
5
6
RC
0
0
CHANNEL
00 - Mixed
01 - Independent Right
10 - Independent Le
11 - Independent Both
0 - Linear
1 - Exponenal
0 - RC
1 - MCU
Analog
0
1
0 - Locked An-Phase
1 - Signed Magnitude
PWM
1
0
Serial
Simpliied
1
1
0
BAUDRATE
000 - 1200
001 - 2400
010 - 4800
011 - 9600
100 - 19200
101 - 38400
110 - 57600
111 - 115200
Serial
Packetized
1
1
1
ADDRESS
Start from 000 (Decimal: 0) to 111 (Decimal: 7)
DIP Switch
7
8
RC
BATTERY MONITOR
00 - LiPo (Lithium Polymer)
01 - NiMH (Nickel-Metal Hydride)
10 - SLA (Sealed Lead Acid)
11 - Off
Analog
PWM
SerialSimpliied
SerialPacketized
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8.1 RC (Radio Controlled)
In RC input mode, the speed and direcon of the motor is controlled by the signal from the
standard hobby radio control transmier and receiver, or a microcontroller generang the
similar signal.
NOTE
The RC transmier must be ON before power up the SmartDriveDuo-30.
RC Input mode is selected by seng 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or
MixedMode
SW3:SW4
00
01
10
11
MIXED
The motor speed is controlled by channel RC1 and direcon is controlled
by channel RC2. Recommended this mode if controlled using RC
transmier/receiver.
INDEPENDENT RIGHT
Only motor Right will acve, motor Le will inacve. Motor Right is
controlled by channel RC2.
INDEPENDENT LEFT
Only motor Le will acve, motor Right will inacve. Motor Le is
controlled by channel RC1.
INDEPENDENT BOTH
Both motor is acve and can be controlled individually through channel
RC1 and RC2. Recommended this mode if controlled using
Microcontroller.
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 exponenal and thus soen the control around
the center zero speed point. This is suitable for high speed and very
sensive motor.
MCUMode
(Rev 1.00)
SW6
0
OFF
The center point will be calibrated upon power up. Timeout occurs aer
lost of signal for 100ms and the motor will be stopped for safety
purpose.
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Product User’s Manual - MDDS30
1
ON
The center point is fixed at 1.5ms and the meout feature is disabled.
Motor will connue 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 connuously
to the SmartDriveDuo-30. Instead, it only needs to send a single pulse
when the speed or direcon of the motor needs to be changed.
FullRange
Mode
(Rev1.10)
Replacing
MCUmodein
Rev1.00
SW6
0
1
OFF
The max speed of the motor will be reached at around half of the
throle. Let say the center of throle is 1.5ms, and max for both sides
are 1ms and 2ms. The max speed can be achieved at 1.25ms and 1.75ms
respecvely. This will provide faster response to motor in combat game
and it is the default mode in Rev1.00.
ON
The max speed of the motor will be reached at full of throle. Let say
the center of throle is 1.5ms, and max for both sides are 1ms and 2ms.
The max speed can be achieved at 1ms and 2ms respecvely. This is
addional mode (replacing MCU mode) in revision 1.10 .
0 - OFF 1 - ON X - Don’t care
Common DIP switch sengs for RC input mode
● RC Mode with RC transmier/receiver (Mixed)
ON
1
2
3
4
5
6
7
8
*Sample connecon for MDDS30 with RC receiver. The channels on RC receiver is depend on
your RC controller’s seng.
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8.2 Microcontroller Analog/PWM
In Analog/PWM input mode, the speed and direcon of the motor is controlled by the
analog voltage or PWM signal. For analog, the valid input range is from 0 to 5V. While for
PWM, it can accept TTL PWM from 1.3 to 5V for HIGH level (refer to Product Specificaons ).
NOTE
The Analog/PWM signal to stop the motor must be available when SmartDriveDuo-30 is
turned on/reset. Else, the driver will show Input Error unl the correct (stop) signal is
available.
Stop signal for Analog
Sign-Magnitude - 0V
Locked An-Phase - 2.5V
Stop signal for PWM
Sign-Magnitude - 0% duty cycle
Locked An-Phase - 50% duty cycle
Analog input mode is selected by seng SW1 to 0 (Down) and SW2 to 1 (Up). PWM input
mode is selected by seng 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or
MixedMode
SW3:SW4
00
01
10
11
MIXED
The motor speed is controlled by channel AN1 and direcon is controlled
by channel AN2.
INDEPENDENT RIGHT
Only motor Right will acve, motor Le will inacve. Motor Right is
controlled by channel IN2 and AN2.
INDEPENDENT LEFT
Only motor Le will acve, motor Right will inacve. Motor Le is
controlled by channel IN1 and AN1.
INDEPENDENT BOTH
Both motor is acve and can be controlled individually through channel
IN1 & AN1 for motor Le, and IN2 & AN2 for motor Right.
*28/10/21, we noced that this mode has bugs. The output
for both channels is different (opposite) even though we
provide the same input. Any update we will menon here.
Sorry for the inconvenience caused.
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Product User’s Manual - MDDS30
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 exponenal and thus soen the control around
the center zero speed point. This is suitable for high speed and very
sensive motor.
MCUMode
SW6
0
1
LOCKED ANTI-PHASE
Motor stops when the input signal is 2.5V. Motor moves in one direcon
when the input is < 2.5V (0 - 2.5V) and in another direcon when the
input is > 2.5V (2.5 - 5V).
SIGNED MAGNITUDE
AN1 and AN2 controls the speed of the motor. Motor stops when the
input is 0V and run at full speed when the input is 5V. IN1 and IN2 is
digital inputs and it controls the direcon of the motor respecvely.
0 - OFF 1 - ON X - Don’t care
Common DIP switch sengs for PWM input mode
● PWM input mode with microcontroller (Independent Both)
ON
1
2
3
4
5
6
7
8
*Sample connecon for MDDS30 with CT UNO (or Arduino/Genuino Uno ) and Base Shield
V2 . This connecon is recommended for beginner.
** Arduino Uno library and sample code is provided at the following link - GitHub .
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Product User’s Manual - MDDS30
8.3 Serial Simplified
In Serial Simplified mode, SmartDriveDuo-30 is controlled by using the UART interface. IN1
pin is connected to the UART receive pin. IN2, AN1 and AN2 pins are not used in this mode.
Serial Simplified mode is selected by seng SW1, SW2 to 1 (Up) and SW3 to 0 (Down). SW4
– SW6 can be configured depending on the requirement of the user.
InputMode
SW1-SW3
110
SERIAL SIMPLIFIED MODE
UART
Baudrate
SW4-SW6
000
001
010
011
100
101
110
111
1200
2400
4800
9600
19200
38400
57600
115200
0 - OFF 1 - ON X - Don’t care
A single byte of data is all you need to control the speed and direcon for each motor. First
MSB bit is to select which motor to control, and the rest bits is to control.
BIT
7
MSB
6
5
4
3
2
1
0
LSB
FUNCTION
Channel
Direcon
Speed
Bit 7 (Channel):
● 0 for selecng motor LEFT.
● 1 for selecng motor RIGHT.
Bit 6 (Direcon):
● 0 to set motor direcon to CW.
● 1 to set motor direcon to CCW.
Bit 0 - 5 (Speed):
● 0b 000000 or 0 (decimal) to stop.
● 0b 111111 or 63 (decimal) to full speed.
Created by CytronTechnologiesSdnBhd – All Rights Reserved
Back to INDEX 18

ROBOT.HEAD to TOE
Product User’s Manual - MDDS30
Example Serial Simplified data:
Binary bits
Decimal
7
6
5
4
3
2
1
0
1.
0
0
0
0
0
0
0
0
0
motor LEFT stop.
2.
0
0
1
1
1
1
1
1
63
motor LEFT full speed CW.
3.
0
1
0
0
0
0
0
0
64
motor LEFT stop.
4.
0
1
1
1
1
1
1
1
127
motor LEFT full speed CCW.
5.
1
0
0
0
0
0
0
0
128
motor RIGHT stop.
6.
1
0
1
1
1
1
1
1
191
motor RIGHT full speed CW.
7.
1
1
0
0
0
0
0
0
192
motor RIGHT stop.
8.
1
1
1
1
1
1
1
1
255
motor RIGHT full speed CCW.
Common DIP switch sengs for Serial Simplified mode
● Serial Simplified mode with microcontroller (Baudrate: 9600bps)
ON
1
2
3
4
5
6
7
8
*Sample connecon for MDDS30 with CT UNO (or Arduino/Genuino Uno ) and Base Shield
V2 . This connecon is recommended for beginner.
** Arduino Uno sample code is provided at the following link - GitHub .
Created by CytronTechnologiesSdnBhd – All Rights Reserved
Back to INDEX 19