RoboClaw 2x45A Motor Controller (V6B, pin header I/O)

The RoboClaws from Basicmicro are a family of efficient, versatile, synchronous regenerative motor controllers. They can supply brushed DC motors with 7.5 A, 15 A, 30 A, 45 A, 60 A, 120 A, or 300 A continuous (depending on the model) at voltages from 6 V to 34 V, 6 V to 60 V, or 10.5 V to 60 V (also depending on the model), and they allow for peak currents well above the maximum continuous ratings. The “Solo” versions feature a single motor control channel while the dual versions (denoted by a “2x” in their names) offer two channels for controlling a pair of motors.

	Solo 30A	Solo 60A	Solo 300A	2x7A	2x15A	2x30A	2x45A ST 2x45A	2x60A	2x60AHV	2x200A
Motor channels:	1		1	2
Operating voltage:	6 V to 34 V		6 V to 60 V	6 V to 34 V					10.5 V to 60 V
Continuous output current:	30 A	60 A	300 A	7.5 A	15 A	30 A	45 A	60 A	60 A	200 A
Peak output current:	60 A	120 A	300 A	15 A	30 A	60 A	60 A	120 A	120 A	200 A
5V BEC(1) max current:	1.2 A			1.2 A (V5B or later)	3 A				1.2 A (V7 or later)	3 A
Size:	60 × 32.5 × 23.5 mm		99 × 72.6 × 30 mm	48 × 42 × 17 mm	74 × 52 × 17 mm			100 × 86 × 30 mm	100 × 86 × 30 mm	155 × 126 × 50 mm
Weight:	130 g		340 g	20 g	60 g			300 g		1200 g

¹ Battery Eliminator Circuit

The RoboClaws have a USB interface that acts as a virtual serial (COM) port, allowing it to be controlled directly from a computer, and they feature built-in commands for controlling acceleration, deceleration, distance, speed, current sense, voltage limits and more. Several other interface modes are supported by the RoboClaw as well: it can be controlled via TTL serial for use with embedded systems, RC hobby servo pulses for use as an RC-controlled electronic speed control (ESC), or analog voltages for use with potentiometers or analog joysticks.

RoboClaw automatically supports 3.3V or 5V logic levels, travel limit switches, home switches, emergency stop switches, power supplies, braking systems and contactors. Power supplies can be used by enabling the built in voltage clamping control feature. A built-in switching mode BEC supplies 5VDC at up to 1.2 A or 3 A (depending on controller model) for powering user devices.

The RoboClaws can be operated without feedback for open-loop speed control, or they can be used with a variety of feedback types for closed-loop speed or position control. Quadrature encoders with up to 19.6 million pulses per second are supported and can be auto tuned using Motion Studio, which is a free downloadable application. In addition, a wide range of sensor inputs such as potentiometers and absolute encoders are supported. RoboClaw’s closed loop functionality creates absolute control over speed and direction regardless of load changes.

RoboClaw incorporates several protection features including temperature, current, over voltage and under voltage limits. Several user definable settings such as maximum current limit, maximum and minimum battery voltages are provided for more refined control. The controller uses regenerative braking but can be configured with a voltage clamp circuit to limit the regenerative voltage when used with switching power supplies. The Basicmicro VClamp is a voltage clamp specifically designed to work with the RoboClaw and MCP to suppress such voltage spikes and is rated for use with supplies up to 60 V and currents up to 60 A.

Details for item #3685

This product is the RoboClaw 2x45A with pin headers for I/O connections (a version is also available with screw terminal I/O connections (ST 2x45A)). It can supply a continuous 45 A per channel (60 A peak) to a pair of DC motors and operates up to 34 V. You can find more details about this product in its datasheet.

This RoboClaw is version V6B. The main change from the previous version is the configuration pushbuttons have been removed, and all configuration must now be done through software.

This RoboClaw features a USB Micro-B connector that works with Pololu's USB micro-B cables.

You might consider getting this case to house and protect this RoboClaw. The case has an integrated fan that will help keep the RoboClaw cool, allowing it to deliver higher continuous currents and sustain peak currents longer. The fan is a plug and play solution; it connects directly to the designated cooling fan port on RoboClaw (V5D versions or later).

RoboClaw Case with Fan enclosing a RoboClaw (not included).

RoboClaw Case with Fan, open with RoboClaw (not included) mounted inside.

Key features of the RoboClaw family

• Simple bidirectional control of one or two brushed DC motors, depending on controller model
• 6 V to 34 V, 6 V to 60 V, or 10.5 V to 60 V operating supply range, depending on controller model
• 7.5 A to 300 A maximum continuous current output, depending on controller model
• Dual-channel controllers support channel bridging to allow control of a single motor with double the current capability
• Automatic current limiting reduces duty cycle when temperature exceeds 85° C
• Four communication or control options:
  1. USB serial interface (virtual COM port)
  2. Logic-level (TTL) serial interface for direct connection to microcontrollers or other embedded controllers
  3. Hobby radio control (RC) pulse width interface for direct connection to an RC receiver or RC servo controller
  4. Analog voltage (0 V to 2 V, 5 V tolerant) interface for direct connection to potentiometers and analog joysticks
• Dual feedback inputs for PID closed-loop control:
  • Speed or position control with quadrature encoders, up to 19.6 million encoder pulses per second
  • Position control with analog encoders or potentiometers
  • (Open-loop control with no feedback also available)
• Screw terminals for quick connect/disconnect
• Configurable via pushbutton interface or USB connection and PC software
• Regenerative braking
• Tolerates high-speed direction changes
• Jumper-selectable 5 V BEC
• Battery monitoring and under-voltage cutoff protects batteries from over-discharging
• RoboClaw user manual

Sample code

Basicmicro has written an Arduino library for the RoboClaw that makes it easy to interface these motor controllers with an Arduino. The library comes with several example sketches that demonstrate different methods of controlling the RoboClaw. They also have an application note that shows how to use their libraries to control a RoboClaw with an A-Star 32U4 programmable controller.

Note: Basicmicro was formerly Ion Motion Control and Orion Robotics. Basicmicro uses the following product names and numbers for the RoboClaw controllers:

    “RoboClaw Solo 30A Motor Controller”, Item Id: ION408/IMC408
    “RoboClaw Solo 60A Motor Controller”, Item Id: ION410/IMC410
    “RoboClaw Solo 300A Motor Controller”, Item Id: IMC406
    “RoboClaw 2x7A Motor Controller”, Item Id: ION404/IMC404 (replaces “RoboClaw 2x5A”, Item Id: ION403/IMC403)
    “RoboClaw 2x15A Motor Controller”, Item Id: ION412/IMC412
    “RoboClaw 2x30A Motor Controller”, Item Id: ION413/IMC413
    “RoboClaw 2x45A Motor Controller”, Item Id: ION418/IMC418
    “RoboClaw ST 2x45A Motor Controller”, Item Id: ION419/IMC419
    “RoboClaw 2x60A Motor Controller”, Item Id: ION414/IMC414
    “RoboClaw 2x60AHV Motor Controller”, Item Id: ION415/IMC415
    “RoboClaw 2x160A Motor Controller”, Item Id: ION426/IMC426

RoboClaw versions V5 and above have USB Micro-B connectors; older USB RoboClaws had a USB Mini-B connector. The RoboClaw 2×160A uses a USB B connector.

Dimensions

General specifications

Notes:

1

Available baud rates range from 2400 to 460800 bps.

Recommended links

• RoboClaw motor controller user manual

  User manual for the RoboClaw brushed DC motor controllers.

• RoboClaw and MCP Motor Controller datasheets and other downloadable resources

  Go here to find links to all of the downloadable RoboClaw and MCP resources, including datasheets for the individual controllers, drivers, source code libraries, and CAD drawings.

• RoboClaw Packet Serial with the Pololu A-Star 32U4 Programmable Controllers

  This Application Note covers using the Pololu A-Star 32U4 microcontroller modules to control a RoboClaw motor controller in packet serial mode. Since the A-Star is Arduino compatible, BasicMicro’s Arduino library can be used to easily write programs that control the RoboClaw.

• Basicmicro application notes

  These application notes from Basicmicro explain their motor controllers and some of their features and modes of operation.