MD80 60V

General parameters

MD80 60V is high voltage variant of MD80, designed to work well with 12S lithium batteries. It has all functionalities and features of regular MD80, for more information, please refer to MD80

General parameters table for MD80 60V:

Parameter	Value
Nominal Input Voltage Range	48 VDC
Maximum Input Voltage Range	12 - 60 VDC
Max Input Current (connector)	10.0 A (RMS)
Max Continuous Phase Current w/o cooling	12 A
Max Peak Phase Current (t = 2 s)	40 A
Built-in software-controlled termination resistor	optional
FDCAN Baudrate (adjustable)	1/2/5/8 Mbps
Position PID Controller Execution Frequency	1 kHz
Velocity PID Controller Execution Frequency	5 kHz
Impedance Controller Execution Frequency	40 kHz
Torque Control Execution Frequency	40 kHz
Torque Bandwidth (adjustable)	50 Hz - 2.5 kHz
External encoder support	yes, SPI and RS422 (optional)
External 5V power supply max current	150 mA

Connectors pinout

The connectors used in the system on the CAN FD side are MOLEX Micro-Fit series 3.0. Both connectors are connected in parallel for easy daisy-chaining. The connector pinout with respected color coding is presented below:

Warning

Always make sure CAN bus lines are not shorted to the positive power rail. Applying supply voltage to these pins will cause permanent damage to the controller!

Thermistor connection

All MD80 versions have the capability to measure the MOSFET and motor temperature. This is to ensure the safe operation of the driver and motor. The motor shutdown temperature is configurable up to 140°C max with a hysteresis of 20°C. The driver shutdown temperature is fixed at 100°C with a hysteresis of 20°C.

In the case of the MD80 60V the MOSFET thermistor is built-in directly under the power stage and only the motor thermistor connector is available:

Note

We recommend using MABs thermistors . Using other thermistors may result in imprecise temperature readout.

Aux connectors

MD80 60V feature two accessory connectors.

Aux 1 connector is dedicated to connect MABs ME_am and other SPI based encoders. For external encoder connection via the SPI 530480650 Molex PicoBlade connectors is provided.

Warning

While auxiliary connector pins are 5V tolerant, we recommend using 3.3V logic if possible.

Aux 2 connector has two user-configurable GPIOs, and RS422 interface for connecting to RLS Axim2 encoder. AUX GPIO A pin can be used as an automatic brake control output signal. This signal when amplified, can be used to control MAB SLIM electromagnetic brakes. Enabling of this mode is done via userGpioConfiguration register. When enabled driver will automatically disengage the brake when enabled. For external encoder connection via the RS422 and the GPIO pins utilization 530480810 Molex PicoBlade connectors could be used.

We are able to integrate custom functions such as GPIOs for external sensors and indicators. For more information please contact us: contact@mabrobotics.pl

Warning

By default RS422 transceiver is not soldered on the MD80 boards. If you plan to use RLS Axim2 encoder with MD80, let us know when ordering the board. This modification will be done free of charge.

Thermal characteristics

Test Conditions and Setup

To cover all potential cases, three cooling scenarios have been performed:

• No additional cooling

• Passive cooling

• Active air cooling

MD80 60V driver was tested using coupled inductors (each 22uH) - simulating a motor.

The circuit of the test station is visible below.

In this way driver is set up for the worst case when there is no shaft and all the power is converted to heat.

In each scenario, tests were conducted for a range of phase currents, varying from 2 A to 78 A in 4 A increments. For each current level, the setup was operated until the temperature stabilized, with a target duration of 120 seconds.

All tests were performed in constant environment conditions, in still air at 25°C ambient temperature.

The temperature was measured using an onboard thermistor placed on the bottom layer of the PCB, directly below the MOSFETs.

Tests were performed using voltage levels of 14V, 24V, 36V, 48V and 60V.

Test scenario I - no cooling

Test scenario II - passive cooling

Test scenario III - active air cooling