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RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved.
RoboClaw ST 2x45A, 34VDC Dual ChannelBrushed DC Motor Controller
Data Sheet Version 2.2
BASICMICRO
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 2
Feature Overview:
• 60AmpsPeakPerChannel• ChannelBridgingSupported• DualQuadratureDecoding• 19.6millionPPSDecoding• MultimodeInterface• TTLSerial• USBPort• AnalogInterface• R/CInputControl• Limit,HomeandE-Stops• Upto34VDCOperation• CoolingFanWithAutomaticControl• 3.3vCompliantControlOutputs• 5vTolerantControlInputs• ProgrammableCurrentLimiting• ProgrammableVoltageClamping• ClosedandOpenLoopOperation• AutoTuningPIDFeature• MixedControlModes• DataLogging• DiagnosticLEDs• FieldFirmwareUpdates• Regulated5VDC,3AUserAvailableOutput• OverVoltageandUnderVoltageProtection• EasyTuning,MonitorandSetupwithPCutility
Device OverviewTheRoboClawisanintelligent,highperformancemotorcontrollerdesignedtocontroldualbrushedDCmotors.ItcanbecontrolledfromUSB,RCradio,PWM,TTLserial,analogandmicrocontrollerssuchasanArduinoorRaspberryPi.
RoboClawautomaticallysupports3.3Vor5Vlogiclevels,travellimitswitches,homeswitches,emergencystopswitches,powersupplies,brakingsystemsandcontactors.Abuilt-inswitchingmodeBECsupplies5VDCatupto1.2Ampsforpoweringuserdevices.Inadditionpowersuppliescanbeutilizedbyenablingthebuiltinvoltageclampingcontrolfeature.
Awidevarietyoffeedbacksensoraresupported.Thisincludesquadratureencoders,potentiometersandabsoluteencoderswhichcanbeeasilyconfiguredusingtheavailableautotunefunction.Withsensors,twobrushedDCmotorscanbecontrolledinclosedloopmodeallowingprecisecontroloverpositionandspeed.Withtheabilitytousepotentiometers,servosystemscanbecreatedandcontrolledfromanyofRoboClaw’sinterfacemodes.
Forgreatercontrol,built-incommandsareavailableforcontrollingacceleration,deceleration,distance,speed,currentsense,voltageandmore.Inaddition,RCandanalogmodescanbeconfiguredbyuserdefinedsettingstocontrolaccelerationanddecelerationrates.
RoboClawincorporatesseveralprotectionfeaturesincludingtemperature,current,overvoltageandundervoltagelimits.TheprotectionfeaturesareselfmonitoringandprotectRoboClawfromdamageinanyoperatingcondition.Severaluserdefinablesettingssuchasmaximumcurrentlimit,maximumandminimumbatteryvoltagesareprovidedformorerefinedcontrol.
RoboClaw’sregenerativecapabilitieswillchargeasupplybatteryduringslowdownorbreaking.It’sadvancecircuitrycanchangedirectionduringfullthrottlewithoutdamage!RoboClawalsoincorporatesaLiPocutoffmodetopreventbatterydamage.
Multimode InterfaceRoboClaw’sinputsarevoltageprotectedandcanhandleupto5VDC.Theinputsonlyoutputahighof3.3V.ThisallowsRoboClawtobeinterfacedto5Vor3Vlogiceasilywithnotranslationcircuitsrequired.RoboClawcanbeconnecteddirectlytoaRaspberryPiorArduino.AllofRoboClaw’sinputsareinternallypulled-uptopreventfalsetriggers.InputscanalsobeconfiguredusingtheIonStudioapplication.
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 3
User Regulated Power OutputRoboClawprovidesregulatedpowerforuserdevices.Ahighefficiencyswitchingregulatorsupplies5VDCatupto3Amps.Thisvoltagecanbeusedtopowerexternalsensors,encoders,MCUandotherelectronics.Theregulateduserpowerisautomaticallycurrentlimitedandthermallyprotected.
Main BatteryThepeakoperationalinputvoltagedependingonthemodelcanbe34VDC,60VDCor80VDC.Themodelsmaximuminputvoltagecannotbeexceeded.Fullychargedbatteriesmaximumvoltagemustbetakenintoaccountwheninused.RoboClawisaregenerativemotorcontroller.Duringregeneration,voltagescanpeakoverthemaximumratedvoltageinwhichRoboClawisdesignedtohandletheseovervoltagespikes.
Logic BatteryRoboClawacceptsalogicbattery.Thelogicbatteryisalsoknownasabackupbattery.Theuserregulatedpoweroutput(BEC)isbydefaultpoweredfromthemainbatteryunlessalogicbatteryisdetected.Thelogicbatterysourceiscoupledtothemainbatterythroughasimplediodecircuit.Ifthemainbatteryvoltagedropsbelowthelogicbatteryinputlevel,thelogiccircuitanduserregulatedpoweroutputwillbedrawnfromthelogicbattery.
SoftwareRoboClawcanbeeasilyconfiguredusingIonMotionControl’ssoftwaretools.TheWindowsbasedapplicationenablesuserstoquicklyconfigureRoboClaw.Thesoftwarecanbeusedduringruntimetomonitorandcontrolseveraloperationalparameters.IonstudioisavailablefromtheIonmc.comwebsite.Itscanbefoundinthedownloadssectionofthesiteorlistedundertheproductiondescription.
User ManualThisdatasheetonlycoversmodelspecificinformationandbasicwiring.ToproperlysetupanduseRoboClawrefertotheRoboClawUserManualavailablefordownloadfromhttp://www.ionmc.com.
CoolingRoboClawwillgenerateheat.Themaximumcurrentratingscanonlybeachievedandmaintainedwithadequateheatdissipation.Themotorcontrollershouldbemountedsothatsufficientairflowisprovided.Whichwilldissipatetheheatawayfromthemotorcontrollerduringoperation.SomemodelsofRoboClawincludebuilt-inautomaticcoolingfancontrolwhichcanbeusedtomaintaincontinuouscurrents.
Emergency StopThemotorcontrollershouldbewiredusinganexternalcontactororrelaytocontrolthemainpowerinput.Asecondpowersourceshouldbeusedtopowerthelogicsectioninsituationswherethemainpowerwillbeunderheavyload.Voltagedropscanoccurfromconstantfullloadorhighspeeddirectionchanges.Voltagedropcancauselogicbrownoutsifonlyamainbatteryisusedwithoutalogicbattery.
USBThemotorcontrollersUSBportshouldbeusedforconfigurationanddebugging.TheUSBprotocolisnotdesignedforelectricallynoisyenvironments.TheUSBportwilllikelydisconnectandnotautomaticallyrecoverduringoperationinelectricallynoisyenvironments.TorecoverfromadroppedUSBport,themotorcontrollersUSBcablemayrequirebeingunpluggedandre-pluggedin.TheTTLserialcontrolshouldbethepreferredmethodofcontrolinelectricallynoisyenvironments.
Firmware UpdatesFirmwareupdateswillbemadeavailabletoaddnewfeaturesorresolveanytechnicalissue.BeforeusingRoboClawforthefirsttimeitisrecommendedtoupdatetothelatestfirmware.DownloadandinstallIonStudio.RefertotheRoboClawUserManualforupdatingtheRoboClawfirmware.
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 4
STAT1STAT2
ERR
Hardware Overview:
ID Function DESCRIPTION
A StatusLEDs ProvidesRoboClawstatusinformation.
B USBPort CommunicatewithRoboClawviaUSB.
C ControlInputs S1,S2,S3,S4andS5controlinputs.
D EncoderInputs Dualencoderinputandpowerpins.
E LogicBattery Logicbatteryjumpersetupandlogicbatterypowerinput.
F MotorChannel1 Motordriveroutputscrewterminalsforchannel1.
G MainBattery Mainbatteryscrewterminalinput.
H MotorChannel2 Motordriveroutputscrewterminalsforchannel2.
I SetupButtons ConfigureRoboClaw.CanbypassanduseIonMotionPCsetuputility.
J FanControl Automaticfancontrol.5VDCFan.Onat45°Candoffat35°C
A
BC
D
E
F G H
I
J
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 5
Control InterfaceTheRoboClawusestandardmalepinheaderswith0.100”(2.54mm)spacing.Thepinheadersareidealforusewithstandardservocablesandotherpopularinterfaceconnectors.Thetablebelowlistthepinsandtheirrespectivefunctions.Allpinsare5Vtolerantandoutput3.3VforcompatibilitywithprocessorsuchasRaspberryPiandArduino.R/Cpulseinput,AnalogandTTLcanbegeneratedfromanymicrocontrollersuchasaArduinoorRaspberryPi.TheR/CPulseinputpinscanalsobedrivenbyanystandardR/Cradioreceiver.Thereareseveraluserconfigurableoptionsavailable.ToconfigureRoboClaw,installIonStudioandconnectittoanavailableUSBport.
NAME UART TTL ANALOG R/C PULSE FLIP SWITCH E-STOP HOME LIMIT V-CLAMP Encoder
S1 RX Motor1 Motor1
S2 TX Motor2 Motor2
S3 X X X
S4 X Motor1 Motor1 X
S5 X Motor2 Motor2 X
1A Motor1
1B Motor1
2A Motor2
2B Motor2
+5V
FAN
STAT1
STAT2
ERR
+5VFAN
S1
S2
S3
S4
S5
LB
GND
GND
5+
5+
1B
1A
2B
2A
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 6
Logic Battery (LB IN)ThelogiccircuitofRoboClawcanbepoweredfromasecondarybatterywiredtoLBIN.Alogicbatterywillpreventbrownoutswhenthemainbatteryisloworunderheavyload.Thepositive(+)terminalislocatedattheboardedgeandground(-)istheinsidepinclosesttotheheatsink.RemovetheLB-MBjumperifasecondarybatteryforlogicwillbeused.
BEC Source (LB-MB)TheRoboClawlogicrequires5VDCwhichisprovidedfromtheonboardBECcircuit.TheBECpowersourceinputissetwiththeLB-MBjumper.Installajumperonthe2pinslabeledLB-MBtousethemainbatteryastheBECpowersource.RemovetheLB-MBjumperifusingaseparatelogicbattery.Onmodelswithoutthisjumperthepowersourceisselectedautomatically.
Failure to remove LB-MB jumper when a logic battery is in use, will result in damage.
Encoder Power (+ / -) Thepinslabeled+and-arethesourcepowerpinsforencoders.Thepositive(+)islocatedattheboardedgeandsupplies+5VDC.Theground(-)pinisneartheheatsink.OnRoboClawscrewterminalmodelsallpowermustcomefromthesingle5vscrewterminalandthesingleGNDscrewterminal.
Encoder Inputs (1A / 1B / 2A / 2B)TheencodersinputsarelabeledEN1andEN2.EN1isforencoder1andEN2isforencoder2whichalsocorrespondtomotorchannel1andmotorchannel2.Quadratureencoderinputsaretypicallylabeled1A,1B,2Aand2B.ChannelAofbothEN1andEN2arelocatedattheboardedgeonthepinheader.ChannelBpinsarelocatedneartheheatsinkonthepinheader.Quadratureencodersaredirectional.WhenconnectingencodersmakesuretheleadingchannelforthedirectionofrotationisconnectedtoA.Ifoneencoderisbackwardstotheotheryouwillhaveoneinternalcountercountingupandtheothercountingdown.UseIonStudiotodeterminetheencodersdirectiontothemotorsrotation.EncoderchannelsAandBcanbeswappedinsoftwareusingIonStudiotoavoidre-wiringtheencoderormotor.
Control Inputs (S1 / S2 / S3 / S4 /S5)S1,S2,S3,S4andS5areconfiguredforstandardservostyleheadersI/O(exceptonSTmodels),+5VandGND.S1andS2arethecontrolinputsforserial,analogandRCmodes.S3canbeusedasaflipswitchinput,wheninRCorAnalogmodes.InserialmodeS3,S4andS5canbeusedasemergencystopsinputsorasvoltageclampingcontroloutputs.WhenconfiguredasE-Stopinputs,theyareactivewhenpulledlow.AllI/Ohaveinternalpull-upstopreventaccidentallytriggerswhenleftfloating.S4andS5canconfiguredashomeswitchandlimitswitchinputs.ThepinsclosesttotheboardedgearetheI/0s,centerpinisthe+5Vandtheinsidepinsareground.SomeRCreceivershavetheirownsupplyandwillconflictwiththeRoboClaw’s5vlogicsupply.Itmaybenecessarytoremovethe+5VpinfromtheRCreceiverscableinthosesituations.
Cooling Fan ControlThecoolingfancontrolwillautomaticallyturnonandoffafanbasedonRoboClawstemperature.Thefanwillturnonwhentheboardtemperaturereaches45°Candwillautomaticallyturnoffwhentheboardtemperaturefallsbelow35°C.Thefancontrolcircuitcanpowera5VDCfanatupto230mA.Thereisawiderangeoffansthatcanbeused.TheCFMratingofthefanwilldeterminehoweffectivethefanisatcooling.AtestedfanisavailablefromDigiKeyunderpartnumber:259-1577-ND.Howeveranyfancanbeusedprovideitmeetstheelectricalspecificationsabove.The2pinonboardmatingconnectorisavailablefromDigiKeyunderpartnumber:H2179-ND.Whichrequirestwopinslistedunderpartnumber:H9991CT-ND.
!
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 7
Main Battery Screw TerminalsThemainpowerinputcanbefrom6VDCto34VDConastandardRoboClawand10.5VDCto60VDCor80VDConanHV(HighVoltage)RoboClaw.Theconnectionsaremarked+and-onthemainscrewterminal.Theplus(+)symbolmarksthepositiveterminalandthenegative(-)marksthenegativeterminal.Themainbatterywiresshouldbeasshortaspossible.
Do not reverse main battery wires or damage will occur.
DisconnectThemainbatteryshouldincludeaquickdisconnectincaseofarunawaysituationandpowerneedstobecut.Theswitchmustberatedtohandlethemaximumcurrentandvoltagefromthebattery.Totalcurrentwillvarydependingonthetypeofmotorsused.AcommonsolutionwouldbeaninexpensivecontactorwhichcanbesourcefromsiteslikeEbay.Apowerdioderatedforthemaximumcurrentthebatterywilldelivershouldbeplacedacrosstheswitch/contactortoprovideapathbacktothebatterywhendisconnectedwhilethemotorsarespinning.Thediodewillprovideapathbacktothebatteryforregenerativepowereveniftheswitchisopened.
Motor Screw TerminalsThemotorscrewterminalsaremarkedwithM1A/M1Bforchannel1andM2A/M2Bforchannel2.Foratypicaldifferentialdriverobotthewiringofonemotorshouldbereversedfromtheother.Themotorandbatterywiresshouldbeasshortaspossible.Longwirescanincreasetheinductanceandthereforeincreasepotentiallyharmfulvoltagespikes.
!
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 8
Control ModesRoboClawhas4mainfunctionalcontrolmodesexplainedbelow.Eachmodehasseveralconfigurationoptions.ThemodescanbeconfiguredusingIonStudioorthebuilt-inbuttons.RefertotheRoboClawUserManualforinstallationandsetupinstructions.
RCUsingRCmodeRoboClawcanbecontrolledfromanyhobbyRCradiosystem.RCinputmodealsoallowslowpoweredmicrocontrollerssuchasaBasicStamptocontrolRoboClaw.Servopulseinputsareusedtocontrolthedirectionandspeed.Verysimilartohowaregularservoiscontrolled.RCmodecanbeusedwithencoders.RefertotheRoboClawusermanualforsetupinstructions.
AnalogAnalogmodeusesananalogsignalfrom0Vto2Vtocontrolthespeedanddirectionofeachmotor.RoboClawcanbecontrolledusingapotentiometerorfilteredPWMfromamicrocontroller.AnalogmodeisidealforinterfacingRoboClawwithjoystickpositioningsystemsorothernonmicrocontrollerinterfacinghardware.Analogmodecanuseencodersifproperlysetup(SeeEncodersection).
Simple SerialInsimpleserialmodeRoboClawexpectsTTLlevelRS-232serialdatatocontroldirectionandspeedofeachmotor.SimpleserialistypicallyusedtocontrolRoboClawfromamicrocontrollerorPC.IfusingaPC,aMAX232oranequivalentlevelconvertercircuitmustbeusedsinceRoboClawonlyworkswithTTLlevelinputs.SimpleserialincludesaslaveselectmodewhichallowsmultipleRoboClawstobecontrolledfromasignalRS-232port(PCormicrocontroller).Simpleserialisaonewayformat,RoboClawcanonlyreceivedata.EncodersarenotsupportedinSimpleSerialmode.
Packet SerialInpacketserialmodeRoboClawexpectsTTLlevelRS-232serialdatatocontroldirectionandspeedofeachmotor.PacketserialistypicallyusedtocontrolRoboClawfromamicrocontrollerorPC.IfusingaPCaMAX232oranequivalentlevelconvertercircuitmustbeusedsinceRoboClawonlyworkswithTTLlevelinput.InpacketserialmodeeachRoboClawisassignedauniqueaddress.Thereare8addressesavailable.Thismeansupto8RoboClawscanbeonthesameserialport.EncodersaresupportinPacketSerialmode(SeeEncodersection).
USB ControlUSBcanbeusedinanymode.WhenRoboClawisinpacketserialmodeandanotherdevice,suchasanArduino,isconnectedcommandsfromtheUSBandArduinowillbeexecutedandcanpotentialoverrideoneanother.HoweverifRoboClawisnotinpacketserialmode,motormovementcommandswillnotfunction.USBpacketserialcommandscanthenonlybeusedtoreadstatusinformationandsetconfigurationsettings.
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 9
Wiring BasicsThereareseveralwiringconfigurationsforRoboClaw.Eachconfigurationwillhaveuniquewiringrequirementstoensuresafeandreliableoperation.Thediagrambelowillustratesaverybasicwiringconfigurationusedinasmallmotorsystemwheresafetyconcernsareminimal.Thisisthemostbasicwiringconfigurationpossible.AllusesofRoboClawshouldincludesomekindofmainbatteryshutoffswitch,evenwhensafetyconcernsareminimal.Neverunderestimateasystemwithmovementwhenanuncontrolledsituationarises.
Inaddition,RoboClawisaregenerativemotorcontroller.Ifthemotorsaremovedwhenthesystemisoff,itcouldcausepotentialerraticbehaviorduetotheregenerativevoltagespoweringthesystem.TheregenerativevoltagescanwillcauseproblemsifapowersupplyisusedtopowerRoboClaw.Avoltageclampingcircuitisrequiredtodumptheexcessivevoltages.SeetheRoboClawusermanualforvoltageclampingsetupandwiringdiagrams.
R/C ModeThebelowwiringdiagramisverybasicandforusewithR/Cmode.R/CmodecanbeusedwhenpairingRoboClawwithastandardR/Creceiver.R/CmodecanalsobeusedwithamicrocontrollerandusingservopulsestocontrolRoboClaw.TheRoboClawsuppliespowertotheR/Csystem.IftheR/Creceiverused,hasitsownpowerthe5Vpinonthe3pinheadermustberemoveotherwiseitwillinterferewithRoboClaw’sBEC.
M1A
M1B
M2B
M2A
B-
B+
+-
Battery
S2
ROBOCLAW
Motor 1
Motor 2
Channel1
Channel2
R/C Receiver
S1
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 10
Wiring SafetyInallsystemwithmovement,safetyisaconcern.Thewiringdiagrambelowillustratesaproperlywiredsystemforsafety.Anexternalmainpowercutoffisrequiredforsafety.WhentheRoboClawisswitchedofforthefuseisblown,ahighcurrentdiode(D1)isrequiredtocreateareturnpathtothebatteryforanyregenerativevoltages.Theuseofapre-chargeresistor(R1)isrequiredtoavoidhighinrushcurrentsandarcing.Apre-chargeresistor(R1)shouldbe1K,1/2Wattfora60VDCmotorcontrollerwhichwillgiveapre-chargetimeofabout15seconds.Alowerresistancescanbeusedwithlowervoltagestodecreasethepre-chargetime.
Closed Loop ModeAwiderangeofsensorsaresupportedforclosedloopoperation.RoboClawsupportsdualquadratureencoders(upto19.6millionQPPS),absoluteencoders,potentiometersandhalleffectsensors.Thewiringdiagrambelowisanexampleofclosedloopmodeusingquadratureencoders.Quadratureencodersaredirectional.RoboClaw’sinternalcounterswillincrementforclockwiserotation(CW)anddecrementforcounterclockwiserotation(CCW).WhenwiringencodersAandBchannelsitisimportanttheyarewiredtomatchthedirectionofthemotor.Iftheencoderiswiredinreverseitcancausearunawaycondition.Allmotorandencodercombinationswillneedtobetuned(seetheRoboClawusermanual).
Encoder 1
AB
GND+5V
EN1AEN1B
5VDCGROUND
Encoder 2
AB
GND+5V
EN2AEN2B
5VDCGROUND
M1A
M1B
M2B
M2A
B-
B+
+-
Battery
RX0
TX0
+5V
GROUND
ROBOCLAW
Motor 1
Motor 2
UARTTX
UARTRX
5VDC
GROUND
MCUR1
F1
D1
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 11
Logic BatteryAnoptionallogicbatteryissupported.Underheavyloadsthemainpowercansuffervoltagedrops,causingpotentiallogicbrownoutswhichmayresultinuncontrolledbehavior.Aseparatepowersourceforthemotorcontrollerslogiccircuits,canremedypotentialproblemsfrommainpowervoltagedrops.Thelogicbatterymaximuminputvoltageis34VDCwithaminimuminputvoltageof6VDC.The5Vregulateduseroutputissuppliedbythesecondarylogicbatteryifsupplied.ThemAhofthelogicbatteryshouldbedeterminedbasedontheloadofattacheddevicespoweredbytheregulated5Vuseroutput.
Logic Battery JumperTheconfigurationbelowutilizesalogicbattery.SomemodelsofRoboClawhavealogicbatteryjumper.OnmodelswheretheLB-MBheaderispresentthejumpermustberemovedwhenusingaseparatelogicbattery.IftheheaderforLB-MBisnotpresent,thentheRoboClawwillautomaticallysetthelogicbatterypowersource.
+-
Battery
Motor 1
Motor 2
R1
F1 D1
M1A
M1B
M2B
M2A
B-
B+
ROBOCLAW
F2
+-
LogicBattery
SW1
SW2
GND
LB+
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 12
STAT1STAT2
ERR
Bridging ChannelsRoboClawsdualchannelscanbebridgetorunasonechannel,effectivelydoublingitscurrentcapabilityforonemotor.DamagewillresultifRoboClawisnotsettobridgedchannelmodebeforewiring.DownloadandinstallIonStudio.ConnectthemotorcontrollertothecomputerusinganavailableUSBport.RunIonStudioandingeneralsettingschecktheoptiontocombinechannels.Thenclick“SaveSettings”inthedevicemenu.Whenoperatinginbridgedchannelmodethetotalpeakcurrentoutputiscombinedfrombothchannels.Thepeakcurrentruntimeisdependantonheatbuildup.Adequatecoolingmustbemaintained.FormoreinformationseetheRoboClawusermanual.
Bridged Channel WiringWhenbridgedchannelmodeisactivetheinternaldriverschemefortheoutputstageismodified.Theoutputleadsmustbewiredcorrectlyordamagewillresult.OnesideofthemotorisconnectedtoM1AandM2B.TheothersideofthemotoristhenconnectedtoM1BandtoM2A.
MOTOR
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 13
Mechanical SpecificationsCharacteristic Model Min Typ Max Rating
Weight ST2X45A 2.2(62) Oz(g)
Dimensions
2.06” (52.32mm)
1.8” (45.72mm)
2.9”
(73.
66m
m)
2.63
” (66
.68m
m)
0.125” (3.175mm)
0.70
” (17
.78m
m)
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved. 14
Electrical SpecificationsCharacteristic Min Typ Max Rating
MainBattery 6 34 VDC
LogicBattery 6 12 34 VDC
MaximumExternalCurrentDraw(BEC) 3 A
MotorCurrentPerChannel 45(2) 60(1,2) A
MotorCurrentBridged 90(2) 120(1,2)
OnResistance 1.9 mOhm
LogicCircuitCurrentDraw 90mA mA
InputImpedance 100 Ω
Input 0 5 VDC
InputLow -0.3 0.8 VDC
InputHigh 2 5 VDC
I/OOutputVoltage 0 3.3 VDC
DigitalandAnalogInputVoltage 5 VDC
AnalogUsefulRange 0 2 VDC
AnalogResolution 1 mV
PulseWidth 1 2 mS
EncoderCounters 32 Bits
EncoderFrequency 19.66 Mhz
RS232BaudRate(Note3) 460,800 Bits/s
RS232TimeOut(Note3) 10 ms
TemperatureRange -40 40 100 °C
TemperatureProtectionRange 85 100 °C
HumidityRange 100(4) %
Notes:1.Peakcurrentisautomaticallyreducedtothetypicalcurrentlimitastemperatureapproaches85°C.2.Currentislimitedbymaximumtemperature.Startingat85°C,thecurrentlimitisreducedonaslopewithamaximumtemperatureof100°C,whichwillreducethecurrentto0amps.Currentratingsarebasedonambienttemperatureof25°C.
3.RS232formatis8Bit,NoParityand1Stopbit.4.Condensinghumiditywilldamagethemotorcontroller.
RoboClaw ST 2x45A Dual Channel Motor Controller Data Sheet
(c) 2016 Basicmicro. All Rights Reserved.
WarrantyBasicmicrowarrantiesitsproductsagainstdefectsinmaterialandworkmanshipforaperiodof1year.Ifadefectisdiscovered,Basicmicrowill,atoursolediscretion,repair,replace,orrefundthepurchasepriceoftheproductinquestion.Contactusatsales@basicmicro.com.Noreturnswillbeacceptedwithouttheproperauthorization.
Copyrights and TrademarksCopyright©2015byBasicmicro,Inc.Allrightsreserved.Allreferencedtrademarksmentionedareregisteredtrademarksoftheirrespectiveholders.
DisclaimerBasicmicrocannotbeheldresponsibleforanyincidentalorconsequentialdamagesresultingfromuseofproductsmanufacturedorsoldbyBasicmicrooritsdistributors.NoproductsfromBasicmicroshouldbeusedinanymedicaldevicesand/ormedicalsituations.Noproductshouldbeusedinanylifesupportsituations.
Contacts Email:[email protected] Techsupport:[email protected] Web:http://www.basicmicro.com
Discussion ListAwebbaseddiscussionboardismaintainedathttp://www.basicmicro.com
Technical SupportTechnicalsupportisavailablebysendinganemailtosupport@basicmicro.com,byopeningasupportticketontheIonMotionControlwebsiteorbycalling800-535-9161duringnormaloperatinghours.Allemailwillbeansweredwithin48hours.