RoboteQ SDC2130 User manual

SDC2130/SDC2150 Motor Controller Datasheet 1
SDC2130/SDC2150
2x20A or 1x40A
Compact
High Performance
Dual Channel
Forward/Reverse
Brushed DC Motor
Controller with USB
Roboteq’s SDC2130 (30V) / SDC2150 (50V) controller is
designed to convert commands received from an RC radio,
Analog Joystick, wireless modem, PC (via RS232 or USB) or
microcomputer into high voltage and high current output for
driving one or two DC motors. Fitting a very compact 70x70mm
board, and designed for maximal ease-of-use, it is delivered
with all necessary cables and hardware, and is ready to use in
minutes.
The controller features a high-performance 32-bit microcom-
puter and quadrature encoder inputs to perform advanced
motion control algorithms in Open Loop or Close Loop (Speed
or Position) modes. The SDC2130/SDC2150 features several
Analog, Pulse and Digital I/Os which can be remapped as com-
mand or feedback inputs, limit switches, or many other func-
tions.
For mobile robot applications, the controller’s two motor chan-
nels can either be operated independently or mixed to set the
direction and rotation of a vehicle by coordinating the motion of
each motor. Numerous safety features are incorporated into the
controller to ensure reliable and safe operation. The controller's
operation can be extensively automated and customized using
Basic Language user programs. The controller can be repro-
grammed in the field with the latest features by downloading
new operating software from Roboteq.
Applications
•Industrial Automation
•Tracking, Pan & Tilt systems
•Small to mid-size Terrestrial and Underwater Robotic
Vehicles
•Automatic Guided Vehicles
•Automated machines
•Telepresence Systems
•Animatronics
Features List
•USB, RS232, 0-5V Analog, or Pulse (RC radio) command
modes
•Auto switch between USB, RS232 (12V levels or non-
inverted TTL levels), Analog, or Pulse based on user-
defined priority
•Input for direct connection to Spektrum digital RC radios
•Built-in high-power power drivers for two brushed DC
motors at up to 20A output per channel
•Available in single channel version up to 40A
•Full forward & reverse control on each channel. Four quad-
rant operation. Supports regeneration
•Operates from a single 10V-35V (SDC2130) or 10V-50V
(SDC2150) power source
•Programmable current limit for each channel up to 2x20A
or 1x40A for protecting controller, motors, wiring and bat-
tery
•Up to 4 Analog Inputs for use as command and/or feed-
back
•Up to 5 Pulse Length, Duty Cycle or Frequency Inputs for
use as command and/or feedback
•Up to 6 Digital Inputs for use as Deadman Switch, Limit
Switch, Emergency stop or user inputs
•Dual Quadrature Encoder inputs with 32-bit counters
•2 general purpose 24V, 1A output for brake release or
accessories
•Selectable min, max, center and deadband in Pulse and
Analog modes
•Selectable exponentiation factors for each command
inputs
•Trigger action if Analog, Pulse or Encoder capture are out-
side user selectable range (soft limit switches)
•Open loop or closed loop speed control operation

2SDC2130/SDC2150 Motor Controller Datasheet Version 1.2. May 5, 2011
•Closed loop position control with analog or pulse/fre-
quency feedback
•Precise speed and position control when Encoder feed-
back is used
•PID control loop with separate gains for each channel
•Optional Mixed control (sum and difference) for tank-like
steering
•Configurable Data Logging of operating parameters on
RS232 Output for telemetry or analysis
•Built-in Battery Voltage and Temperature sensors
•Power Control header for turning On or Off the controller
from external microcomputer or switch
•No consumption by output stage when motors stopped
•Regulated 5V output for powering Encoders, RC radio,
RF Modem or microcomputer
•Separate Programmable acceleration and deceleration
for each motor
•Separate Programmable maximum forward and reverse
power
•Direct connection to multi-channel Spektrum-brand
2.4GHz RC receiver
•Ultra-efficient 10 mOhm ON resistance MOSFETs
•Orderable as single channel version up to 40A
•Stall detection and selectable triggered action if Amps is
outside user-selected range
•10 to 32kHz user programmable Pulse Width Modulation
(PWM) output
•Overvoltage and Undervoltage protection
•Programmable Watchdog for automatic motor shutdown
in case of command loss
•Overtemperature protection
•Diagnostic LED
•Efficient heat sinking using conduction bottom plate.
Operates without a fan in most applications
•Power wiring via terminal strip wires up to AWG12
•2.76” (70mm) L, 2.76” W (70mm), 0.78” (20mm) H
•-40o to +85o C operating environment
•3.5oz (100g)
•Easy configuration, tuning and monitory using provided
PC utility
•Field upgradeable software for installing latest features
via the internet
Orderable Product References
TABLE 1.
Reference Number of Channels Amps/Channel Volts
SDC2130 220 30
SDC2150 220 50
SDC2130S 140 30
SDC2150S 140 50

SDC2130/SDC2150 Motor Controller Datasheet 3
Power Wires Identifications and Connection
Power Wires Identifications and Connection
Power connections are made through a 6 position screw terminal.
The diagram below shows how to wire the dual-channel controller and how to turn power On and Off.
M1+ M1- VMot GND M2+ M2-
GND
PwrCtrl
Spektrum
Radio Connecto
r
50V
Jumper
USB Connector IO Connector
Battery and Motor Connections
18
915
P1
J1
P3 P4
J2
P2
FIGURE 8. Controller layout
Motor 1
VMot
PwrCtrl
SW1 Main
On/Off Switch 1A
F2
1A
Diode
>10A
Resistor
1K, 0.5W
+-
SW2
Emergency
Cut-off Switch
F1
M1+
M1-
M2+
M2-
I/O Connector
Ground
Ground
Motor 2
Main
Battery
Backup
Battery
Note 5
Do not Connect!
Note 1
Note 4
Note 3 Note 2
FIGURE 9. Powering the controller. Thick lines identify MANDATORY connections

4SDC2130/SDC2150 Motor Controller Datasheet Version 1.2. May 5, 2011
Important Warning
Carefully follow the wiring Instructions provided in the Read Me First sheet that comes with the control-
ler, or in the Power Connection section of the User Manual. The information on this datasheet is only a
summary.
Mandatory Connections
It is imperative that the controller is connected as shown in the above diagram in order to ensure a safe and trou-
ble-free operation. All connections shown as thick black lines line are mandatory. The controller must be powered
On/Off using switch SW1on the Power Control Header.
The battery must be connected in permanence to the controller’s VMot power via an input emergency switch
SW2 as additional safety measure.
Precautions and Optional Connections
Note1: Optional backup battery to ensure motor operation with weak or discharged battery.
Note2: Use precharge 1K Resistor to prevent switch arcing.
Note3: Insert a high-current diode to ensure a return path to the battery during regeneration in case the fuse is
blown.
Note4: Optionally ground the VBat wires when the controller is Off if there is any concern that the motors could
be made to spin and generate voltage in excess of 35V.
Note5: Beware not to create a path from the ground pins on the I/O connector and the battery’s minus terminal.
Single Channel Wiring
The single channel version of the controller (SDC2130S and SDC2150S) require that the output be parallel and
that the load be wired as shown in the diagram below.
Important Warning
This wiring is only possible on controllers fitted with the Single Channel version of the firmware. Dual channel
controllers will be damaged if wired as single channel. Verify that the PC utility identifies the controller as
SDC2130S or SDC2150S before applying power to the load.
M
M1+ M1- M2+ M2-
FIGURE 10. SDC2130S and SDC2150S wiring diagram

SDC2130/SDC2150 Motor Controller Datasheet 5
Sensor and Commands Connection
Sensor and Commands Connection
Connection to RC Radio, Microcomputer, Joystick and other low current sensors and actuators is done via the 15
connector located in front of the board. The functions of many pins vary depending on user configuration. Pin
assignment is found in the table below.
Default I/O Configuration
The controller can be configured so that practically any Digital, Analog and RC pin can be used for any purpose.
The controller’s factory default configuration provides an assignment that is suitable for most applications. The
figure below shows how to wire the controller to two analog potentiometers, an RC radio, and the RS232 port. It
also shows how to connect the two outputs to motor brake solenoids. You may omit any connection that is not
required in your application. The controller automatically arbitrates the command priorities depending on the pres-
ence of a valid command signal in the following order: 1-RS232, 2-RC Pulse, 3-Analog. If needed, use the Robo-
run+ PC Utility to change the pin assignments and the command priority order.
TABLE 4.
Connector Pin Power Dout Com RC Ana Dinput Enc Default Config
1 DOUT1 Unused
9 DOUT2 Unused
2 TxOut RS232Tx
10 RC5 ANA1 DIN5 ENC2A AnaCmd1
3RxIn RS232Rx
11 RC4 ANA4 DIN4 AnaCmd2
4 RC1 DIN1 ENC1A RCRadio1
12 RC3 ANA3 DIN3 Unused
5 GND
13 GND
6 TTL TxD / SCLI TTL Serial TxD
14 5VOut
7 TTL RxD / SDAI TTL Serial RxD
15 DIN6 ENC2B Unused
8 RC2 ANA2 DIN2 ENC1B RCRadio2
FIGURE 11. Connector pin locations
18
915

6SDC2130/SDC2150 Motor Controller Datasheet Version 1.2. May 5, 2011
Status LED Flashing Patterns
After the controller is powered on, the Power LED will tun on, indicating that the controller is On. The Status LED
will be flashing at a 2 seconds interval. The flashing pattern provides operating or exception status information.
Additional status information may be obtained by monitoring the controller with the PC utility.
18
915
12
Pot 1
RS232
Ground
TxOut
RxIn
Motor 2
Motor 1
Pot 2
RC Ch1RC Ch2
FIGURE 12. Factory default pins assignment
RS232/USB Mode
Idle - Waiting for Command
RC Pulse Mode
Analog Mode
FIGURE 13. Normal Operation Flashing Patterns
Under or Over Voltage
Power Stage Off
Short Detected
Overheat
FIGURE 14. Exception or Fault Flashing Patterns

SDC2130/SDC2150 Motor Controller Datasheet 7
Electrical Specifications
Electrical Specifications
Absolute Maximum Values
The values in the table below should never be exceeded. Permanent damage to the controller may result.
Power Stage Electrical Specifications (at 25oC ambient)
TABLE 5.
Parameter Measure point Models Min Typ Max Units
Battery Leads Voltage Ground to VBat SDC2130 10 40 Volts
SDC2150 10 55 Volts
Reverse Voltage on Bat-
tery Leads
Ground to VBat All -1 Volts
Motor Leads Voltage Ground to M1+, M1-,
M2+, M2-
SDC2130 35 Volts
SDC2150 55 Volts
Digital Output Voltage Ground to Output pins All 30 Volts
Analog and Digital Inputs
Voltage
Ground to any signal pin
on 25 & 9-pin connec-
tors
All 15 Volts
RS232 I/O pins Voltage External voltage applied
to Rx/Tx pins
All 15 Volts
Board Temperature Board -40 85 oC
Humidity Board 100 (2) %
Note 1: Maximum regeneration voltage in normal operation. Never inject a DC voltage from a battery or other fixed source
Note 2: Non-condensing
TABLE 6.
Parameter Measure point Models Min Typ Max Units
Battery Leads Voltage Ground to VBat SDC2130(S) 10 (1) 35 Volts
SDC2150(S) 10 (1) 55 Volts
Motor Leads Voltage Ground to M1+, M1-,
M2+, M2-
SDC2130(S) 0 (1) 35(2) Volts
SDC2150(S) 0 (1) 55(2) Volts
Over Voltage protection
range
Ground to VBat SDC2130(S) 5 30 (4) 35 Volts
SDC2150(S) 5 50 (4) 55(2) Volts
Under Voltage protection
range
Ground to VBat SDC2130(S) 0 5 (4) 35 Volts
SDC2150(S) 0 5 (4) 55 Volts
Idle Current Consumption VBat or Pwr Ctrl wires All 50 75 (5) 100 mA
ON Resistance (Excluding
wire resistance)
VBat to M+, plus M- to
Ground at 100% power.
Per channel
SDC2130/50 20 mOhm
SDC2130S/50S 10 mOhm
Max Current per channel
for 30s
Ch1 or Ch2 Motor
current
SDC2130/50 20 (6) Amps
SDC2130S/50S 40 (6) Amps
Continuous Max Current
per channel
Ch1 or Ch2 Motor
current
SDC2130/50 15 (6)(7) Amps
SDC2130S/50S 30 (6)(7) Amps

8SDC2130/SDC2150 Motor Controller Datasheet Version 1.2. May 5, 2011
Important Warning:
Beware that regenerative braking can create high voltage at the controller's power inputs. Use the con-
troller only with batteries. See user manual for special precautions when using a power supply.
Command, I/O and Sensor Signals Specifications
Current Limit range Ch1 or Ch2 Motor
current
SDC2130/50 1 15(8) 20 Amps
SDC2130S/50S 1 30(8) 40 Amps
Stall Detection Amps
range
Ch1 or Ch2 Motor
current
SDC2130/50 1 15(8) 20 Amps
SDC2130S/50S 1 30(8) 40 Amps
Stall Detection timeout
range
Ch1 or Ch2 Motor cur-
rent
All 1 500 (9) 65000 millisec-
onds
Motor Acceleration/Decel-
eration range
Ch1 or Ch2 All 100 500 (10) 65000 millisec-
onds
Note 1: Negative voltage will cause a large surge current. Protection fuse needed if battery polarity inversion is possible
Note 2: Maximum regeneration voltage in normal operation. Never inject a DC voltage from a battery or other fixed source
Note 3: Minimum voltage must be present on VBat or Power Control wire
Note 4: Factory default value. Adjustable in 0.1V increments
Note 5: Current consumption is lower when higher voltage is applied to the controller’s VBat or PwrCtrl wires
Note 6: When single channel jumper is installed, current is doubled. Current must be balanced between channel to obtain max
current.
Note 7: Estimate. Limited by heatsink temperature. Current may be higher with better cooling
Note 8: Factory default value. Adjustable in 0.1A increments
Note 9: Factory default value. Time in ms that Stall current must be exceeded for detection
Note 10: Factory default value. Time in ms for power to go from 0 to 100%
TABLE 7.
Parameter Measure point Min Typ Max Units
Main 5V Output Voltage Ground to 5V pins on 4.6 4.75 4.9 Volts
5V Output Current 5V pins on RJ45 and DSub15 100 mA
Digital Output Voltage Ground to Output pins 30 Volts
Digital Output Current Output pins, sink current 1 Amps
Output On resistance Output pin to ground 0.75 1.5 Ohm
Output Short circuit threshold Output pin 1.05 1.4 1.75 Amps
Input Impedances AIN/DIN Input to Ground 53 kOhm
Digital Input 0 Level Ground to Input pins -1 1 Volts
Digital Input 1 Level Ground to Input pins 3 15 Volts
Analog Input Range Ground to Input pins 0 5.1 Volts
Analog Input Precision Ground to Input pins 0.5 %
Analog Input Resolution Ground to Input pins 1 mV
Pulse durations Pulse inputs 20000 10 us
Pulse repeat rate Pulse inputs 50 250 Hz
TABLE 6.
Parameter Measure point Models Min Typ Max Units

SDC2130/SDC2150 Motor Controller Datasheet 9
Electrical Specifications
Operating & Timing Specifications
Scripting
Thermal Specifications
Pulse Capture Resolution Pulse inputs 1 us
Frequency Capture Pulse inputs 100 10000 Hz
Encoder count Internal -2.147 2.147 10^9 Counts
Encoder frequency Encoder input pins 30000 or
1M(1)
Counts/s
Note1: Dual Channel controller max at 30Kcps. Single channel version max at 1Mcps
TABLE 8.
Parameter Measure Point Min Typ Max Units
Command Latency Command to output change 1 0.5 1 ms
PWM Frequency Ch1, Ch2 outputs 10 18 (1) 32 kHz
Closed Loop update rate Internal 1000 Hz
USB Rate USB pins 12 MBits/s
RS232 baud rate Rx & Tx pins 115200 (2) Bits/s
RS232 Watchdog timeout Rx pin 1 (3) 65000 ms
Note 1: May be adjusted with configuration program
Note 2: 115200, 8-bit, no parity, 1 stop bit, no flow control
Note 3: May be disabled with value 0
TABLE 9.
Parameter Measure Point Min Typ Max Units
Scripting Flash Memory Internal 8192 Bytes
Max Basic Language programs Internal 1000 1500 Lines
Integer Variables Internal 1024 Words (1)
Boolean Variables Internal 1024 Symbols
Execution Speed Internal 50 000 100 000 Lines/s
Note 1: 32-bit words
TABLE 10.
Parameter Measure Point Model Min Typ Max Units
Board Temperature PCB All -40 85 (1) oC
Thermal Protection range PCB All 70 80 (2) oC
Thermal resistance Power MOSFETs to
heats sink
All 2 oC/W
Note 1: Thermal protection will protect the controller power
Note 2: Max allowed power out starts lowering at minimum of range, down to 0 at max of range
TABLE 7.
Parameter Measure point Min Typ Max Units

10 SDC2130/SDC2150 Motor Controller Datasheet Version 1.2. May 5, 2011
The SDC2130/SDC1250 uses a conduction plate at the bottom of the board for heat extraction. For best results,
attach firmly with thermal compound paste against a metallic chassis so that heat transfers to the conduction
plate to the chassis. If no metallic surface is available, mount the controller on spacers so that forced or natural air
flow can go over the plate surface to remove heat.
Mechanical Specifications
TABLE 11.
Parameter Measure Point Min Typ Max Units
Weight Board 100 (3.5) g (oz.)
Power Wire Gauge Terminal strip 12 AWG
0.16"
16.26mm
4.1mm
0.64"
19mm
0.75"
FIGURE 15. SDC2130/SDC2150 front view and dimensions
39.1mm
1.54"
41.78mm
1.645"
14.73mm
0.58"
30mm
1.18"
62.2mm
2.45"
70mm
2.76"
13.2mm
0.519"
62.2mm
2.45"
70mm
2.76"
FIGURE 16. SDC2130/SDC2150 top view and dimensions