Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
dmc-60c:hardware-reference-manual [2018/11/14 19:15] – Arthur Browndmc-60c:hardware-reference-manual [2023/02/10 12:45] (current) – external edit 127.0.0.1
Line 1: Line 1:
-====== DMC60C Hardware Reference Manual ======+====== DMC60C Reference Manual ======
  
-The DMC60C is the feature-packed, CAN-enabled successor to the DMC60. It is a powerful, compact, FIRST Robotics Competition (FRC) approved motor controller designed for use with brushless DC motors up to 24V. The DMC60C features an open loop PWM control mode, two internal closed loop control modes (voltage compensation, current control), two external closed loop control modes (position, velocity), and a follower control mode. These features are made available in competition with an easy-to-use API, complete with examples, in C/C++, Java, and Labview. The DMC60C also features a web configuration utility that can be installed on any FRC configured roboRIO. This configuration utility enables live configuration of several DMC60C parameters including closed loop PID constants. This makes the DMC60C an ideal component in any robotics application.+<WRAP round info 650px> 
 +===Note=== 
 +The DMC60C is retired and no longer for sale in our store.  
 +</WRAP> 
 + 
 +The DMC60C is the feature-packed, CAN-enabled successor to the DMC60. It is a powerful, compact, FIRST Robotics Competition (FRC) approved motor controller designed for use with any 12-24V brushed DC motor. The DMC60C features an open loop PWM control mode, two internal closed loop control modes (voltage compensation, current control), two external closed loop control modes (position, velocity), and a follower control mode. These features are made available in competition with an easy-to-use API, complete with examples, in C/C++, Java, and LabVIEW. The DMC60C also features a web configuration utility that can be installed on any FRC configured roboRIO. This configuration utility enables live configuration of several DMC60C parameters including closed loop PID constants. This makes the DMC60C an ideal component in any robotics application.
  
 {{Digilent Image Gallery {{Digilent Image Gallery
Line 11: Line 16:
  
 ---- ----
-====== Features ======+===== Features =====
  
 {{ :dmc-60c:hardware-reference-manual:dmc60c-callout.png?direct |}} {{ :dmc-60c:hardware-reference-manual:dmc60c-callout.png?direct |}}
Line 22: Line 27:
  
 ---- ----
-====== Specifications ======+===== Specifications =====
 ===== 1 Electrical ===== ===== 1 Electrical =====
  
Line 56: Line 61:
  
 ---- ----
-====== Functional Description ======+===== Functional Description =====
 ===== 1 Power Input Connections ===== ===== 1 Power Input Connections =====
  
Line 87: Line 92:
 //Figure 4.1 DMC60C LED Label Callout// //Figure 4.1 DMC60C LED Label Callout//
  
-The DMC60C contains four RGB (Red, Green, and Blue) LEDs and one Brake / CAL LED. The dour 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 DMC60C contains four RGB (Red, Green, and Blue) LEDs and one Brake/Coast 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/Coast 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.
  
 At power-on, the RGB LEDs illuminate Blue, continually getting brighter. This lasts for approximately five seconds. During this time, the motor controller will not respond to an input signal, nor will the output drivers be enabled. After the initial power-on has completed, the device begins normal operation and what gets displayed on the RGB LEDs is a function of the input signal being applied, as well as the current fault state. Assuming that no faults have occurred, the RGB LEDs function as follows: At power-on, the RGB LEDs illuminate Blue, continually getting brighter. This lasts for approximately five seconds. During this time, the motor controller will not respond to an input signal, nor will the output drivers be enabled. After the initial power-on has completed, the device begins normal operation and what gets displayed on the RGB LEDs is a function of the input signal being applied, as well as the current fault state. Assuming that no faults have occurred, the RGB LEDs function as follows:
Line 109: Line 114:
 ===== 5 Brake / Coast Mode ===== ===== 5 Brake / Coast Mode =====
  
-The DMC60C's response when a neutral duty cycle is applied to the output depends on the Brake / Coast setting. When the DMC60C is configured for Brake Mode, the M+ and M- leads are internally shorted when a neutral duty cycle is applied to the output, which causes an attached motor to resist rotation. If an attached motor is spinning, then its speed decreases at a much quicker rate than it would if the M+ and M- leads were allowed to float. When configured for Coast Mode, the M+ and M- leads float when a neutral duty cycle is applied to the output.+The DMC60C's response when a neutral duty cycle is applied to the output depends on the Brake/Coast setting. When the DMC60C is configured for Brake Mode, the M+ and M- leads are internally shorted when a neutral duty cycle is applied to the output, which causes an attached motor to resist rotation. If an attached motor is spinning, then its speed decreases at a much quicker rate than it would if the M+ and M- leads were allowed to float. When configured for Coast Mode, the M+ and M- leads float when a neutral duty cycle is applied to the output.
  
-The current Brake / Coast setting is displayed by the Brake / CAL LED, which is in the center of the triangle located at the center of the housing. When the device is operating in Brake Mode, the LED is illuminated Red. When the device is operating in Coast Mode, the LED is off. The Brake / Coast setting can be toggled by pressing down on the center of the triangle, then releasing the button.+The current Brake/Coast setting is displayed by the Brake/Coast CAL LED, which is in the center of the triangle located at the center of the housing. When the device is operating in Brake Mode, the LED is illuminated Red. When the device is operating in Coast Mode, the LED is off. The Brake/Coast setting can be toggled by pressing down on the center of the triangle, then releasing the button.
  
-The Brake / Coast setting is stored in non-volatile memory and is re-stored automatically after power cycles.+The Brake/Coast setting is stored in non-volatile memory and is re-stored automatically after power cycles.
  
-When the DMC60C is connected to a CAN bus the Brake / Coast setting may be overridden by the CAN control frame. When the Brake / Coast override is active the Brake / CAL LED is overridden to display the setting specified by the CAN control frame. During this time the DMC60C employs the Brake / Coast mode that is specified in the CAN frame when applying the neutral duty cycle to the output.+When the DMC60C is connected to a CAN bus the Brake/Coast setting may be overridden by the CAN control frame. When the Brake/Coast override is active the Brake/Coast CAL LED is overridden to display the setting specified by the CAN control frame. During this time the DMC60C employs the Brake/Coast mode that is specified in the CAN frame when applying the neutral duty cycle to the output.
  
 ---- ----
Line 123: Line 128:
  
 To perform calibration, follow these steps: To perform calibration, follow these steps:
-  * 1. 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.+  * 1. Press and hold the Brake/Coast 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.
   * 2. While continuing to hold the button, use the controller to move between full forward and full reverse (perhaps by moving a joystick), making sure to reach both extremes. This may be repeated more than once, but there is no required minimum.   * 2. While continuing to hold the button, use the controller to move between full forward and full reverse (perhaps by moving a joystick), making sure to reach both extremes. This may be repeated more than once, but there is no required minimum.
   * 3. Return the controller to neutral (return the joystick to the neutral position).   * 3. Return the controller to neutral (return the joystick to the neutral position).
-  * 4. Release the Brake / CAL button.+  * 4. Release the Brake/Coast CAL button.
   * 5. If calibration was successful, then the top and bottom LEDs will quickly alternate between Green and Off and the new calibration constants will be stored in non-volatile memory. If calibration failed, then the top and bottom LEDs will quickly alternate between Red and Off and the device will continue to operate using the existing calibration constants.   * 5. If calibration was successful, then the top and bottom LEDs will quickly alternate between Green and Off and the new calibration constants will be stored in non-volatile memory. If calibration failed, then the top and bottom LEDs will quickly alternate between Red and Off and the device will continue to operate using the existing calibration constants.
  
Line 133: Line 138:
 To restore default calibration: To restore default calibration:
   * 1. Disconnect the power source from the DMC60C.   * 1. Disconnect the power source from the DMC60C.
-  * 2. Hold the Brake / CAL button down.+  * 2. Hold the Brake/Coast CAL button down.
   * 3. While continuing to hold the button, apply power to the DMC60C.   * 3. While continuing to hold the button, apply power to the DMC60C.
   * 4. Continue holding down the button until the top and bottom LEDs alternate quickly between Green and Off.   * 4. Continue holding down the button until the top and bottom LEDs alternate quickly between Green and Off.
-  * 5. Release the Brake / CAL button.+  * 5. Release the Brake/Coast CAL button.
  
 **Note:** //This will also restore all DMC60C settings to their factory default state.// **Note:** //This will also restore all DMC60C settings to their factory default state.//