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BASICMICRO RoboClaw Series - User Manual
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RoboClaw Series Brushed DC Motor Controllers
R
oboClaw Solo
R
oboClaw 2x5A
R
oboClaw 2x7A
R
oboClaw 2x15A
R
oboClaw 2x30A
R
oboClaw 2x45A
R
oboClaw 2x45A ST
R
oboClaw 2x60A
R
oboclaw 2x60HV
R
oboclaw 2x120A
R
oboclaw 2x160A
R
oboclaw 2x200A
User Manual
Firmwar
e 4.1.34 and Newer
Hardwar
e V3, V4, V5, V6 and V7
User Manual R
evision 5.
7
(c) 2014, 2015 Ion Motion Control. All Rights Reserved
B
A
SICMICRO
2
Table of Contents
Main Page
Table of Contents
3
Warnings
9
Introduction
10
Motor Selection
10
Stall Current
10
Running Current
10
Shut down
10
Run Away
10
Wire Lengths
10
Power Sources
10
Logic Power
11
Encoders
11
Getting Started
12
Initial Setup
12
Encoder Setup
12
Hardware Overview
13
I/O
13
Headers
13
Control Inputs
13
Encoder Inputs
13
Logic Battery (LB IN)
13
BEC Source (LB-MB)
13
Encoder Power (+ -)
14
Main Battery Screw Terminals
14
Main Battery Disconnect
14
Motor Screw Terminals
14
Easy to Use Libraries
14
Motion Studio Overview
15
Motion Studio
15
Connection
15
Device Status
16
Device Status Screen Layout
16
Status Indicator (4)
17
General Settings
18
Configuration Options
18
PWM Settings
19
Velocity Settings
21
Position Settings
23
Firmware Updates
26
Motion Studio Setup
26
Firmware Update
26
Control Modes
28
Setup
28
USB Control
28
Analog
28
Simple Serial
28
Packet Serial
28
Configuration Using Motion Studio
29
Mode Setup
29
Control Mode Setup
30
Control Mode Options
31
Configuration with Buttons
36
Mode Setup
36
Modes
36
Mode Options
37
RC and Analog Mode Options
37
Standard Serial and Packet Serial Mode Options
37
Battery Cut off Settings
38
Battery Options
38
Battery Settings
39
Automatic Battery Detection on Startup
39
Manual Voltage Settings
39
Wiring
40
Basic Wiring
40
Safety Wiring
41
Encoder Wiring
41
Logic Battery Wiring
42
Logic Battery Jumper
42
Status Leds
43
Status and Error Leds
43
Message Types
43
LED Blink Sequences
44
Inputs
45
S3, S4 and S5 Setup
45
Limit / Home / E-Stop Wiring
46
Regenerative Voltage Clamping
47
Voltage Clamp
47
Voltage Clamp Circuit
47
Voltage Clamp Setup and Testing
48
Bridge Mode
49
Bridging Channels
49
Bridged Channel Wiring
49
Bridged Motor Control
49
USB Control
50
USB Connection
50
USB Power
50
USB Comport and Baudrate
50
RC Control
51
RC Mode
51
RC Mode with Mixing
51
RC Mode with Feedback for Velocity or Position Control
51
RC Mode Options
51
Pulse Ranges
51
RC Wiring Example
52
Analog Control
53
Analog Mode
53
Analog Mode with Mixing
53
Analog Mode with Feedback for Velocity or Position Control
53
Analog Mode Options
53
Analog Wiring Example
54
Standard Serial Control
55
Standard Serial Mode
55
Serial Mode Baud Rates
55
Standard Serial Command Syntax
55
Standard Serial Wiring Example
56
Standard Serial Mode with Slave Select
57
Packet Serial
58
Packet Serial Mode
58
Address
58
Packet Modes
58
Packet Serial Baud Rate
58
Serial Mode Options
58
Packet Timeout
59
Packet Acknowledgement
59
CRC16 Checksum Calculation
59
CRC16 Checksum Calculation for Received Data
59
Easy to Use Libraries
59
Handling Values Larger than a Byte
60
Packet Serial Wiring
61
Multi-Unit Packet Serial Wiring
62
Commands 0 - 7 Compatibility Commands
63
Drive Forward M1
63
Drive Backwards M1
63
Set Minimum Main Voltage (Command 57 Preferred)
63
Set Maximum Main Voltage (Command 57 Preferred)
64
Drive Forward M2
64
Drive Backwards M2
64
Drive M1 (7 Bit)
64
Drive M2 (7 Bit)
64
Commands 8 - 13 Mixed Mode Compatibility Commands
65
Drive Forward
65
Drive Backwards
65
Turn Right
65
Turn Left
65
Drive Forward or Backward (7 Bit)
65
Turn Left or Right (7 Bit)
65
Advanced Packet Serial
66
Commands
66
Set Serial Timeout
66
Read Serial Timeout
66
Read Firmware Version
68
Read Main Battery Voltage Level
68
Read Logic Battery Voltage Level
68
Set Minimum Logic Voltage Level
68
Set Maximum Logic Voltage Level
68
Read Motor PWM Values
69
Read Motor Currents
69
Set Main Battery Voltages
69
Set Logic Battery Voltages
69
Read Main Battery Voltage Settings
69
Read Logic Battery Voltage Settings
69
Set M1 Default Duty Acceleration
69
Set M2 Default Duty Acceleration
70
Set Default Speed for M1
70
Set Default Speed for M2
70
Read Deafult Speed Settings
70
Set S3, S4 and S5 Modes
71
Get S3, S4 Amd S5 Modes
71
Set Deadband for Rc/Analog Controls
71
Read Deadband for Rc/Analog Controls
72
Restore Defaults
72
Read Default Duty Acceleration Settings
72
Read Temperature
72
Read Temperature 2
72
Read Status
73
Read Encoder Mode
73
Set Motor 1 Encoder Mode
74
Set Motor 2 Encoder Mode
74
Write Settings to EEPROM
74
Read Settings from EEPROM
74
Set Standard Config Settings
75
Read Standard Config Settings
76
Set CTRL Modes
76
Read CTRL Modes
76
Set CTRL1
76
Set CTRL2
77
Read CTRL Settings
77
Set Auto Home Duty/Speed and Timeout M1
77
Set Auto Home Duty/Speed and Timeout M2
77
Read Auto Home Settings
77
Set Speed Error Limits
77
Read Speed Error Limits
78
Set Position Error Limits
78
Read Position Error Limits
78
Set Battery Voltage Offsets
78
Read Battery Voltage Offsets
78
Set Current Blanking Percentages
78
Read Current Blanking Percentages
78
Set M1 Max Current Limit
79
Set M2 Max Current Limit
79
Read M1 Max Current Limit
79
Read M2 Max Current Limit
79
Set PWM Mode
79
Read PWM Mode
79
Read User EEPROM Memory Location
79
Write User EEPROM Memory Location
80
Encoders
81
Closed Loop Modes
81
Encoder Tuning
81
Quadrature Encoders Wiring
81
Absolute Encoder Wiring
82
Encoder Tuning
83
Auto Tuning
83
Manual Velocity Calibration Procedure
84
Manual Position Calibration Procedure
84
Encoder Commands
86
Read Encoder Count/Value M1
86
Read Quadrature Encoder Count/Value M2
87
Read Encoder Speed M1
87
Read Encoder Speed M2
87
Reset Quadrature Encoder Counters
87
Set Quadrature Encoder 1 Value
88
Set Quadrature Encoder 2 Value
88
Read Raw Speed M1
88
Read Raw Speed M2
88
Read Encoder Counters
88
Read Ispeeds Counters
88
Read Motor Average Speeds
89
Read Speed Errors
89
Read Position Errors
89
Advanced Motor Control
90
Advanced Motor Control Commands
90
Set Velocity PID Constants M1
91
Set Velocity PID Constants M2
91
Drive M1 with Signed Duty Cycle
91
Drive M2 with Signed Duty Cycle
92
Drive M1 / M2 with Signed Duty Cycle
92
Drive M1 with Signed Speed
93
Drive M2 with Signed Speed
93
Drive M1 / M2 with Signed Speed
93
Drive M1 with Signed Speed and Acceleration
93
Drive M2 with Signed Speed and Acceleration
94
Drive M1 / M2 with Signed Speed and Acceleration
94
Buffered M1 Drive with Signed Speed and Distance
94
Buffered M2 Drive with Signed Speed and Distance
95
Buffered Drive M1 / M2 with Signed Speed and Distance
95
Buffered M1 Drive with Signed Speed, Accel and Distance
95
Buffered M2 Drive with Signed Speed, Accel and Distance
96
Buffered Drive M1 / M2 with Signed Speed, Accel and Distance
96
Read Buffer Length
96
Drive M1 / M2 with Signed Speed and Individual Acceleration
97
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BASICMICRO RoboClaw Series Specifications
General
Brand
BASICMICRO
Model
RoboClaw Series
Category
Controller
Language
English
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