Pololu
RoboClaw 2x60AHV, 60VDC Motor Controller (V6)
The RoboClaws from Basicmicro (formerly Ion Motion Control) are a family of efficient, versatile, synchronous regenerative motor controllers. They can supply...
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The RoboClaws from Basicmicro (formerly Ion Motion Control) 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, or 120 A continuous (depending on the model) at voltages from 6 V to 34 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.
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 Ion 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.
Details for item #3581
With an operating supply range of 10.5 V to 60 V, the RoboClaw 2x60AHV is a higher-voltage version of the 2x60A (V6), which operates from 6 V to 34 V. The AHV also has a slightly modified heat sink, which features several tapped holes that can be used for directly mounting a pair of cooling fans. Aside from the sub-millimeter-tall bosses surrounding each tapped hole, the heat sink’s outer dimensions remain the same. This RoboClaw features a USB Micro-B connector that works with our USB micro-B cables.
RoboClaw 2×60AHV, 60VDC Motor Controller.
Key Features
- Simple bidirectional control of one or two brushed DC motors, depending on controller model
- 6 V to 34 V or 10.5 V to 60 V operating supply range, depending on controller model
- 7.5 A to 120 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:
- USB serial interface (virtual COM port)
- Logic-level (TTL) serial interface for direct connection to microcontrollers or other embedded controllers
- Hobby radio control (RC) pulse width interface for direct connection to an RC receiver or RC servo controller
- 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
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.
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 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.
Jargon buster
Plain-language definitions for the technical terms used above.
- closed-loop control
- Closed-loop control means the system uses feedback, such as motor position or speed, to adjust its output automatically. This matters because it can keep a motor moving accurately even when the load changes, unlike simple open-loop control.
- COM port
- A COM port is how a computer (chiefly under Windows) presents a serial port to software, whether a physical RS-232 port or a virtual port created when a USB-to-serial device is plugged in. Software can then communicate with the connected device over serial using a terminal or configuration program.
- DC
- DC means direct current, where electricity flows in one constant direction, as supplied by batteries, USB ports and many plug-pack power supplies. When a product specifies DC, it runs from a DC supply rather than mains AC, so you need to provide the correct voltage and polarity.
- duty cycle
- The fraction of time a signal or power source is switched on during each repeating on/off cycle, usually given as a percentage. It is central to PWM (pulse-width modulation), where adjusting the duty cycle controls things like LED brightness, motor speed or heater power, and on devices such as proximity sensors it can also affect detection range, response speed, accuracy and power use.
- encoder
- An encoder is a sensor that converts the rotation or position of a shaft, knob or dial into electrical signals, reporting movement as incremental steps and direction, or as an absolute position. It is used to track how far something has turned, which matters for precise positioning, speed control, repeatable movement, or using a rotary knob as an input.
- ESC
- An ESC, or electronic speed controller, is a driver commonly used to control brushless motors, especially in drones and RC vehicles. Compared with a field-oriented control driver, a conventional ESC typically offers less smooth low-speed control and less precise torque or position control.
- regenerative braking
- Regenerative braking slows a motor by turning some of its motion back into electrical energy instead of just wasting it as heat. It matters in motor-control projects where controlled deceleration, efficiency, or energy recovery is useful.
- servo
- A servo is a motor with built-in position control, usually told to move to a specific angle by a control signal. It matters when you need repeatable movement, such as steering, arms, flaps, or linkages, rather than continuous spinning.
- TTL serial
- A simple serial data connection that uses microcontroller logic-level voltages (typically 3.3 V or 5 V) rather than the higher, inverted voltages of computer RS-232. When a device lists TTL serial, it can usually wire straight to a microcontroller's UART pins or to a USB-to-TTL serial adapter, but it needs a level converter before connecting to a true RS-232 port.
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