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dmc-60:reference-manual [2016/11/21 23:39] – [5 Motor Controller LEDs] sbobrowiczdmc-60:reference-manual [2023/02/09 14:20] (current) – external edit 127.0.0.1
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 ====== DMC 60 Reference Manual ====== ====== DMC 60 Reference Manual ======
 +<WRAP round info 650px>
 +===Note===
 +The DMC 60 is retired and no longer for sale in our store. 
 +</WRAP>
 +
 The DMC 60 is an electronic speed controller designed for driving brushed DC motors. It utilizes synchronous rectification to efficiently produce a variable output voltage that’s controlled by a PWM Input Signal. This makes the DMC 60 ideal for use in robotics applications, including FIRST Robotics Competition.  The DMC 60 is an electronic speed controller designed for driving brushed DC motors. It utilizes synchronous rectification to efficiently produce a variable output voltage that’s controlled by a PWM Input Signal. This makes the DMC 60 ideal for use in robotics applications, including FIRST Robotics Competition. 
  
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 {{ :dmc-60:components.png?500 |DMC 60 components. }} {{ :dmc-60:components.png?500 |DMC 60 components. }}
  
-====== Features ======+===== Features =====
   * Sealed, ruggedized, and compact aluminum case   * Sealed, ruggedized, and compact aluminum case
   * Tie-wrap and through-bolt mounting – drop-in replacement for Victor SP controller   * Tie-wrap and through-bolt mounting – drop-in replacement for Victor SP controller
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   * 15.625 kHz output switching frequency ensures smooth and precise motor control   * 15.625 kHz output switching frequency ensures smooth and precise motor control
  
-====== Electrical Specifications ======+===== Electrical Specifications =====
 ^ Parameter                              ^ Min  ^ Nominal  ^ Max  ^ Unit  ^ ^ Parameter                              ^ Min  ^ Nominal  ^ Max  ^ Unit  ^
 | Input Voltage                          | 6    | 12       | 28   | V     | | Input Voltage                          | 6    | 12       | 28   | V     |
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-====== 1 Mechanical Dimensions And Mounting Information ======+===== 1 Mechanical Dimensions And Mounting Information =====
  
 {{ :dmc-60:mechanical_dimensions.png?600 |DMC 60 mechanical information.}} {{ :dmc-60:mechanical_dimensions.png?600 |DMC 60 mechanical information.}}
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-====== 2 Connecting Input Power ======+===== 2 Connecting Input Power =====
 Connect the black wire (labeled GND on the housing) of the DMC 60 to the ground, or negative terminal of the chosen power source. Connect the Red Wire (labeled V+ on the housing) of the DMC60 to the positive terminal of the chosen power source. Connect the black wire (labeled GND on the housing) of the DMC 60 to the ground, or negative terminal of the chosen power source. Connect the Red Wire (labeled V+ on the housing) of the DMC60 to the positive terminal of the chosen power source.
 When powering the DMC 60 via a Power Distribution Panel (PDP) this typically means connecting the Red Wire of the DMC 60 to the Red Terminal of the PDP and the Black Wire of the DMC 60 to the Black Terminal of the PDP. When powering the DMC 60 via a Power Distribution Panel (PDP) this typically means connecting the Red Wire of the DMC 60 to the Red Terminal of the PDP and the Black Wire of the DMC 60 to the Black Terminal of the PDP.
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-====== 3 Connecting the Output ======+===== 3 Connecting the Output =====
  
 Connect the green wire (labeled M- on the housing) to the negative lead of the motor. Connect the white wire (labeled M+ on the housing) to the positive lead of the motor. The stall current associated with the motor may be very high. Therefore, it is recommended that these connections be made through crimped connectors or by soldering the leads directly together. Connect the green wire (labeled M- on the housing) to the negative lead of the motor. Connect the white wire (labeled M+ on the housing) to the positive lead of the motor. The stall current associated with the motor may be very high. Therefore, it is recommended that these connections be made through crimped connectors or by soldering the leads directly together.
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-====== 4 Connecting the PWM Input Signal ======+===== 4 Connecting the PWM Input Signal =====
 The DMC 60 continually measures the positive pulse width of the PWM Input Signal applied to the PWM Cable and maps it to an output voltage, or duty cycle. By default, a positive pulse width of 1.0 milliseconds corresponds to 100% duty cycle in the reverse direction (current flow from M- to M+), a positive pulse width of 2.0 milliseconds corresponds to 100% duty cycle in the forward direction (current flow from M+ to M-), and a positive pulse width of 1.5 milliseconds (+/- 4%) corresponds to neutral. When a neutral pulse width is detected the present Brake / Coast setting is applied to the output. The DMC 60 expects the PWM Input Signal to have an input period between 2.9 and 100 milliseconds. This allows the update rate to be as high as 344 Hz or as low as 10 Hz. The DMC 60 continually measures the positive pulse width of the PWM Input Signal applied to the PWM Cable and maps it to an output voltage, or duty cycle. By default, a positive pulse width of 1.0 milliseconds corresponds to 100% duty cycle in the reverse direction (current flow from M- to M+), a positive pulse width of 2.0 milliseconds corresponds to 100% duty cycle in the forward direction (current flow from M+ to M-), and a positive pulse width of 1.5 milliseconds (+/- 4%) corresponds to neutral. When a neutral pulse width is detected the present Brake / Coast setting is applied to the output. The DMC 60 expects the PWM Input Signal to have an input period between 2.9 and 100 milliseconds. This allows the update rate to be as high as 344 Hz or as low as 10 Hz.
  
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-====== 5 Motor Controller LEDs ======+===== 5 Motor Controller LEDs =====
  
 The DMC 60 contains four RGB (Red, Green, and Blue) LEDs and one Brake / CAL LED. The four RGB LEDs are located in the corners and are used to indicate status during normal operation, as well as when a fault occurs. The Brake / CAL LED is located in the center of the triangle, which is located at the center of the housing, and is used to indicate the current Brake/Coast setting. When the center LED is off the device is operating in coast mode. When the center LED is illuminated the device is operating in brake mode. The Brake/Coast mode can be toggled by pressing down on the center of the triangle and then releasing the button. The DMC 60 contains four RGB (Red, Green, and Blue) LEDs and one Brake / CAL LED. The four RGB LEDs are located in the corners and are used to indicate status during normal operation, as well as when a fault occurs. The Brake / CAL LED is located in the center of the triangle, which is located at the center of the housing, and is used to indicate the current Brake/Coast setting. When the center LED is off the device is operating in coast mode. When the center LED is illuminated the device is operating in brake mode. The Brake/Coast mode can be toggled by pressing down on the center of the triangle and then releasing the button.
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-====== 6 Input Signal Calibration ======+===== 6 Input Signal Calibration =====
 The DMC 60 accepts PWM input signals with a positive pulse width between 0.6 and 2.4 milliseconds. Due to variations in controllers it may be necessary to adjust, or calibrate, the pulse widths that correspond to the maximum forward and reverse duty cycles, as well as the neutral input. The DMC 60 accepts PWM input signals with a positive pulse width between 0.6 and 2.4 milliseconds. Due to variations in controllers it may be necessary to adjust, or calibrate, the pulse widths that correspond to the maximum forward and reverse duty cycles, as well as the neutral input.
  
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   - Press and hold the Brake / CAL button. After approximately 5 seconds the top and bottom LEDs will begin to alternate between Blue and Off. This indicates that calibration has started.   - Press and hold the Brake / CAL button. After approximately 5 seconds the top and bottom LEDs will begin to alternate between Blue and Off. This indicates that calibration has started.
-  - While continuing to hold the button, move the joystick back and forth between full forward and full reverse, ensuring to reach both extremes. This may be repeated more than once, but there is no required minimum.+  - While continuing to hold the button, move the joystick on the controller back and forth between full forward and full reverse, ensuring to reach both extremes. This may be repeated more than once, but there is no required minimum.
   - Return the joystick to the neutral position.   - Return the joystick to the neutral position.
   - Release the Brake / CAL button.   - Release the Brake / CAL button.
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-====== 7 Internal Temperature Monitoring and Over Temperature Protection======+===== 7 Internal Temperature Monitoring and Over Temperature Protection=====
  
 The DMC 60 features an onboard thermistor, which allows the temperature of the circuit board to be continuously monitored. When the motor controller detects that the temperature of the circuit board has exceeded 70°C it will begin to decrease the duty cycle of the output. Additionally, the color of the LED indicators will be changed to Cyan (forward) or Fuchsia (reverse) to indicate that the device is operating in reduced duty cycle mode. As the temperature continues to rise, the duty cycle will be further reduced at a rate of approximately 2.85% per degree C until the temperature of the PCB exceeds 100°C, at which point the output duty cycle will be set to 0% and an over temperature fault will be signaled. The motor controller will continue to operate with a decreased duty cycle until the temperature of the PCB falls below 70°C, at which point, it will resume outputting the duty cycle that corresponds to the input signal. The DMC 60 features an onboard thermistor, which allows the temperature of the circuit board to be continuously monitored. When the motor controller detects that the temperature of the circuit board has exceeded 70°C it will begin to decrease the duty cycle of the output. Additionally, the color of the LED indicators will be changed to Cyan (forward) or Fuchsia (reverse) to indicate that the device is operating in reduced duty cycle mode. As the temperature continues to rise, the duty cycle will be further reduced at a rate of approximately 2.85% per degree C until the temperature of the PCB exceeds 100°C, at which point the output duty cycle will be set to 0% and an over temperature fault will be signaled. The motor controller will continue to operate with a decreased duty cycle until the temperature of the PCB falls below 70°C, at which point, it will resume outputting the duty cycle that corresponds to the input signal.
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-====== 8 Input Voltage Monitoring and Under Voltage Protection ====== +===== 8 Input Voltage Monitoring and Under Voltage Protection ===== 
-The Digilent Motor Controller’s (DMC1 and DMC2) continuously monitor the input voltage. If the input voltage falls below 5.75 Volts (+/- 2%) for 5 or more seconds, then the output duty cycle will be set to 0% and an under voltage fault will be signaled. The output will remain disabled until the fault is cleared (3 seconds), at which point it may be re-enabled if the under-voltage condition is no longer present.+The DMC 60 continuously monitors the input voltage. If the input voltage falls below 5.75 Volts (+/- 2%) for 5 or more seconds, then the output duty cycle will be set to 0% and an under voltage fault will be signaled. The output will remain disabled until the fault is cleared (3 seconds), at which point it may be re-enabled if the under-voltage condition is no longer present.
  
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-====== 9 Fault Indicators ======+===== 9 Fault Indicators =====
 When a fault condition is detected the output duty cycle is reduced to 0% and a fault is signaled. The output will remain disabled for 3 seconds. During this time the onboard LEDs (LED1, LED2, LED3, and LED4) are used to indicate the fault condition. The fault condition is indicated by toggling between the top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being on and off. The top LEDs will be Red during them on state. The color of the bottom LEDs depends on which faults are presently active. The table below describes how the color of the bottom LEDs maps to the presently active faults. When a fault condition is detected the output duty cycle is reduced to 0% and a fault is signaled. The output will remain disabled for 3 seconds. During this time the onboard LEDs (LED1, LED2, LED3, and LED4) are used to indicate the fault condition. The fault condition is indicated by toggling between the top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being on and off. The top LEDs will be Red during them on state. The color of the bottom LEDs depends on which faults are presently active. The table below describes how the color of the bottom LEDs maps to the presently active faults.