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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


(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.



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.



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



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



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.

!



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.

!



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.



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



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



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+



STAT1STAT2

ERR

Bridging ChannelsRoboClawsdualchannelscanbebridgetorunasonechannel,effectivelydoublingitscurrentcapabilityforonemotor.DamagewillresultifRoboClawisnotsettobridgedchannelmodebeforewiring.DownloadandinstallIonStudio.ConnectthemotorcontrollertothecomputerusinganavailableUSBport.RunIonStudioandingeneralsettingschecktheoptiontocombinechannels.Thenclick“SaveSettings”inthedevicemenu.Whenoperatinginbridgedchannelmodethetotalpeakcurrentoutputiscombinedfrombothchannels.Thepeakcurrentruntimeisdependantonheatbuildup.Adequatecoolingmustbemaintained.FormoreinformationseetheRoboClawusermanual.

Bridged Channel WiringWhenbridgedchannelmodeisactivetheinternaldriverschemefortheoutputstageismodified.Theoutputleadsmustbewiredcorrectlyordamagewillresult.OnesideofthemotorisconnectedtoM1AandM2B.TheothersideofthemotoristhenconnectedtoM1BandtoM2A.

MOTOR



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)



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.


(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.

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