SBL23XX

Advanced Features
Brushless DC
Motor Controller
with USB and CAN

RoboteQ’s SBL23xx is a features-packed, high-current, dual Key Features

or single channel controller for brushless DC motors. The
• USB, Serial, 0-5V Analog, or Pulse (RC radio) command
controller can operate in one of several modes in order to
modes
sense the rotor position and sequence power on the motor’s
3 windings in order to generate smooth continuous rotation. • One RS232 serial port
The controller also uses the Hall sensor and/or Encoder • CAN bus interface up to 1Mbit/switch multiple protocol
information to compute speed and measure travelled distance support
inside a 32-bit counter. The motors may be operated in open • RS485
or closed loop speed mode, position mode or in torque mode. • Auto switch between Serial, USB, CAN, Analog, or
Pulse based on user-defined priority
The SBL2360 features several Analog, Pulse and Digital
I/Os which can be remapped as command or feedback inputs, • Built-in dual 3-phase high-power drivers for two
limit switches, or many other functions. The SBL2360 accepts brushless DC motor at up to 30A
commands received from an RC radio, Analog Joystick, • Output channels can be paralleled in order to drive a
wireless modem, or microcomputer. For mobile robot single motor at up to 60A
applications, the controller’s two motor channels can either be • Multiple Motor Operating mode
operated independently or mixed to move and steer a vehicle. - Trapezoidal with Hall Sensors
Using CAN bus, up to 127 controllers can be networked at up - Sinusoidal with Encoders
to 1Mbit/s on a single twisted pair. - Sinusoidal with Hall Sensors
• Support for absolute angle encoders
Numerous safety features are incorporated into the controller
- sin/cos analog
to ensure reliable and safe operation. The controller’s
- SSI
operation can be extensively automated and customized using
Basic Language scripts. The controller can be configured, • Field Oriented Control in Sinusoidal modes
monitored and tuned in real-time using a RoboteQ’s free • Full forward & reverse motor control. Four quadrant
PC utility. The controller can also be reprogrammed in the operation. Supports regeneration
field with the latest features by downloading new operating • Operates from a single 12V power source
software from Roboteq. • STO - Safe Torque Off support (T-version)
• Programmable current limit up to 30A (60A on single
Applications channel version) per motor for protecting controller,
• Automatic Guided Vehicles motor, wiring and battery.
• Small Electric Vehicles, Electric Bikes • Separate connector for Hall Sensors
• Terrestrial and Underwater Robotic Vehicles • Accurate speed and Odometry measurement using
• Police and Military Robots Hall Sensor or Encoder data
• Hazardous Material Handling Robots • Up to 8 Analog Inputs for use as command and/or
feedback
• Balancing Robots
• Up to 8 Pulse Length, Duty Cycle or Frequency Inputs
• Telepresence Systems
for use as command and/or feedback
• Animatronics

SBL23xx Motor Controller Datasheet 1

 • Up to 10 Digital Inputs for use as Deadman Switch, Modem, sensors or microcomputer
Limit Switch, Emergency stop or user inputs • Separate Programmable acceleration and deceleration
• Inputs for up to 2 Quadrature Encoders for each motor
• 4 general purpose 24V, 1.5A output for brake release or • Ultra-efficient 3.3 mOhm ON resistance MOSFETs
accessories (1.65 mOhm on Single Channel)
• Selectable min, max, center and dead band in Pulse • Stall detection and selectable triggered action if Amps
and Analog modes is outside user-selected range
• Selectable exponentiation factors for each command • Short circuit protection
inputs • Overvoltage and Undervoltage protection
• Trigger action if Analog, Pulse or Hall counter • Watchdog for automatic motor shutdown in case of
capture are outside user selectable range (soft limit command loss
switches) • Overtemperature protection
• Open loop or closed loop speed control operation • Diagnostic LED
• Closed loop position control with encoder, hall sensors, • Efficient heat sinking. Operates without a fan in most
analog or pulse/frequency feedback applications.
• Torque mode • Dustproof and weather resistant. IP40 rating
• PID control loop • Power wiring using screw terminals
• Built-in Battery Voltage and Temperature sensors • 4.8” (123.0mm) L, 3.3” W (83.0mm), 1.0” (25mm) H
• Optional backup power input for powering safely the • – 40° to +85° C operating environment
controller if the main motor batteries are discharged
• Weight: 0.47 lbs (215g)
• Power Control wire for turning On or Off the controller
• Easy configuration, tuning and monitory using provided
from external microcomputer or switch
PC utility
• No consumption by output stage when motors
• Field upgradeable software for installing latest features
stopped
via the internet Orderable Product References
• Regulated 5V output for powering RC radio, RF

Orderable Product References

SinCos/
Number of Amps/ Resolver
Reference Channels Channel Volts STO Digital Inputs Support
SBL2360 2 30 60 No 8 Yes
SBL2360S 1 60 60 No 8 Yes
SBL2360T 2 30 60 Yes 8 Yes
SBL2360TS 1 60 60 Yes 8 Yes
SBL2360TD 2 30 60 Yes 10 No
SBL2360TDS 1 60 60 Yes 10 No

2 SBL23xx Motor Controller Datasheet Version 1.0 September 12, 2022

 

Important Safety Disclaimer

Dangerous uncontrolled motor runaway condition can occur for a number of reasons, including, but not
limited to: command or feedback wiring failure, configuration error, faulty firmware, errors in user script
or user program, or controller hardware failure.

The user must assume that such failures can occur and must make his/her system safe in all
conditions. Roboteq will not be liable in case of damage or injury as a result of product misuse or
failure.

Motor 1 Motor 2

V V
M G G M
Pwr o N N o
Ctl t U V W D D U V W t

Motor Sensor 1 Motor Sensor 2

Status
Power
Comm
USB

I/O

FIGURE 1.  SBL23xx Outline

Figure 2, below, shows how to wire the controller in a dual motor configuration, and how to turn power On and
Off.

SBL23xx Motor Controller Datasheet 3

 FIGURE 2.  Powering the Controller. Thick lines identify MANDATORY connections

Important Warning
Carefully follow the wiring instructions provided in the Power Connection section of the User Manual.
The information on this datasheet is only a summary.

Mandatory Connections
It is imperative that the controller is connected as shown in the above diagram in order to ensure a safe and
trouble-free operation. All connections shown as thick black lines line are mandatory. The controller must be
powered On/Off using switch SW1on the PwrCtrl input. Use a suitable high-current fuse F1 (check table 10) as
a safety measure to prevent damage to the wiring in case of major controller malfunction.

Emergency Switch or Contactor

The battery must be connected in permanence to the controller’s Vmot input via a high-power emergency
switch or contactor SW2 as additional safety measure. The user must be able to deactivate the switch or
contactor at any time, independently of the controller state.

Electrostatic Discharge Protection

In accordance with IEC 61000-6-4, Roboteq Motor Controllers are designed to withstand ESD up to 4kV touch
and 8kV air gap. This protection is implemented without any additional external connections required.

Some specifications, such as EN12895, require a higher level of protection. To maximize ESD protection, up to
8kV touch and 15kV air gap, you may connect the metallic heatsink of the controller to your battery negative
terminal. See App Note 062918 for example connections.

4 SBL23xx Motor Controller Datasheet Version 1.0 September 12, 2022

 Single Channel Wiring

Precautions and Optional Connections

Note 1: Backup battery to ensure motor operation with weak or discharged batteries, connect a second battery
to the Power Control wire/terminal via the SW1 switch.
Note 2: Use precharge 100Ω, 5W Resistor to prevent switch arcing.
Note 3: The voltage generated by motors rotating while not powered by the controller can cause serious
damage even if the controller is Off or disconnected.
• Use the main SW1 switch on the Power Control wire/terminal to turn Off and keep Off the controller. In this
way the controller cannot be powered up under any unwanted circumstances.
• Countermeasures should be taken to deal with any regeneration power if the battery or BMS system does
not support energy to return back to it.
• Disconnecting the controller from the battery while motors are rotating could lead to a serious damage. In
this case a regeneration brake system is needed.
Note 4: Connect the controller’s bottom plate to a wire connected to the Earth while the charger is plugged in
the AC main, or if the controller is powered by an AC power supply.
Note 5: Beware not to create a path from the ground pins on the I/O connector and the battery minus terminal.

Single Channel Wiring

On the Single Channel SBL23XXS, the each of the motor wire must be connected to both output terminals of
the same letter as shown in the figure below. Use the Encoders and/or Hall sensors of Channel 1 for operation.

U1
V1
W1

V
U2
V2
W U
W2

FIGURE 3.  Single Channel wiring diagram

Important Warning
This wiring must be done only on the single channel version of the controller. Paralleling the wires on
a dual channel product will cause permanent damage. Verify that your controller is an SBL2360S before
you wire in this manner.

Use of Safety Contactor for Critical Applications

An external safety contactor must be used in any application where damage to property or injury to person can
occur because of uncontrolled motor operation resulting from failure in the controller’s power output stage.

SBL23xx Motor Controller Datasheet 5

 FIGURE 4.  Contactor Wiring Diagram

The contactor coil must be connected to a digital output configured to activate when “No MOSFET Failure”.
The controller will automatically deactivate the coil if the output is expected to be off and battery current of 1A
or more is measured for more than 0.5s. This circuit will not protect against other sources of failure such as
those described in the “Important Safety Disclaimer” on page 3.

Controller Mounting
During motor operation, the controller will generate heat that must be evacuated. The published amps rating
can only be fully achieved if adequate cooling is provided. Good conduction cooling can be achieved by having
the bottom surface of the case making direct contact with a metallic surface (chassis, cabinet). The mounting
has to be like that, so that the thermal-safety limits are not exceeded.

Hall Sensors Connection

Connection to the Hall Sensors is done using a special connector on the front side of the controller. The Hall
sensor connector is a 6-pin Molex Microfit 3.0, ref. 43645-0600. Pin assignment is in the table below.

FIGURE 5.  Hall Sensors Connector

6 SBL23xx Motor Controller Datasheet Version 1.0 September 12, 2022

 Hall Sensor vs Motor Output sequencing

TABLE 1.

Pin Number 1 2 3 4 5 6
Signal Ground Hall A Hall B Hall C 5V

Hall Sensor vs Motor Output sequencing

The controller requires the Hall sensors inside the motor to be 120 degrees apart. The controller’s 3-phase
bridge will activate each of the motor winding according to the sequence shown in the figure below.

1 2 3 4 5 6 1 2 3 4 5 6

Hall A U
Hall B
1 3
Hall C 4 6

U + - - + + - - +
5
V + + - - + + - - W V
2
W - - + + - - + +

FIGURE 6.  Hall Sensors Sequence

Connection to SSI Absolute Encoder

In Sinusoidal Mode, the controller can use motors equipped with absolute angle sensors with SSI interface.
When enabled, the SSI signals are found on the 6-pin Molex connectors that is otherwise used for the Hall
Sensors. The controller issues a differential clock signal and expects a up to 16-bit differential data signal from
the encoder. When two motors are used, these signals must be connected to both sensors. Serial data from
each sensor is captured on separate input pins.

TABLE 2.

Pin Number 1 2 3 4 5 6
Signal Ground Data +    Data – Clock + Clock – 5V

Connection to Analog Sin/Cos Absolute Encoder

The SBL23xx has 4 high-speed analog inputs that can be used to capture absolute angle position from sensors
with sin/cos voltage outputs. The signal must be 0-5V max with the 0 at 2.500V. The table below shows the
signals assignment on the 25-pin connector. The sensor can be single ended or differential. Not applicable for
D Versions.

SBL23xx Motor Controller Datasheet 7

 TABLE 3. Differential Sin/Cos signals on the SBLM23xxx
Pin Number 1 2 3 4 5 6
Signal Ground Sin + Sin – Cos + Cos – 5V

FIGURE 7.  Motor sensor connector pin identification

Commands and I/O Connections

Connection to RC Radio, Microcomputer, Joystick and other low current sensors and actuators is done via the
DB25 connector. The functions of many pins vary depending on controller model and user configuration. Pin
assignment is found in the table below.

14 25

1 13

FIGURE 8.  Main Connector Pin Locations

TABLE 4.

Connector Default
Pin Power Dout Com Pulse Ana Dinput Enc Hall (4) Config
  1 GND
14 5VOut
  2 RS TxD RS232Tx
15 RC1 ANA1 DIN1 Hall1A RCRadio1 (3)
  3 RS RxD RS232Rx
16 RC2 ANA2 DIN2 Hall1B RCRadio2 (3)
  4 RC3 (6) ANA3 DIN3/ STO1 Hall1C AnaCmd1 (1)
(2)
17 RC4 (6) ANA4 DIN4/ STO2 Hall2A AnaCmd2 (1)
(2)
  5 GND
18 DOUT1 Motor Brake
1

8 SBL23xx Motor Controller Datasheet Version 1.0 September 12, 2022

 Commands and I/O Connections

TABLE 4.

Connector Default
Pin Power Dout Com Pulse Ana Dinput Enc Hall (4) Config
  6 DOUT2 Motor Brake
2
19 DOUT3 Contactor
  7 DOUT4 Unused
20 CANH
  8 CANL
21 RC5 ANA5 DIN5 ENC2A Hall2B Unused
  9 ASIN1 DIN9(5) Unused
22 RC6 ANA6 DIN6 ENC2B Hall2C Unused
  10 ACOS1 DIN10(5) Unused
23 RS485+ RS485 +
  11 RS485 –  RS485 –
24 RC7 ANA7/ASIN2 DIN7 ENC1A Unused
  12 RC8 ANA8/ACOS2 DIN8 ENC1B Unused
25 5VOut
  13 GND
Note 1: Analog command is disabled in factory default configuration.
Note 2: STO functionality only available in T versions. See STO section for details.
Note 3: Pulse input enable by default on firmware version prior to v2.0
Note 4: Hall inputs are activated in DB25 connector in firmware v2.0 or later and only if Molex input is configured as SSI Input.
In that case user has to install 1K pull up resistor between each hall signal and 5VOut.
Note 5: Digital inputs 9 and 10 are available in D versions only.
Note 6: Not recommended for MultiPWM on T versions.

Default I/O Configuration

While the controller can be configured so that practically any Digital, Analog and RC pin can be used for
any purpose, the controller’s factory default configuration provides an assignment that is suitable for most
applications. The figure below shows how to wire the controller to two analog potentiometers, an RC radio,
and the RS232 port. It also shows how to connect two outputs to motor brake solenoids and another output
to an external status LED. You may omit any connection that is not required in your application. The controller
automatically arbitrates the command priorities depending on the presence of a valid command signal in
the following order: 1-RS232, 2-RC Pulse, 3-None. If needed, use the Roborun+ PC Utility to change the pin
assignments and the command priority order.

SBL23xx Motor Controller Datasheet 9

 RC Ch1 RC Ch2

Pot 1 Pot 2
1 2

14 25

1 13

RS232
TxOut Contactor
RxIn Motor Brake 2
Ground Motor Brake 1

FIGURE 9.  Factory Default Pin Assignment

Enabling Analog Commands

For safety reasons, the Analog command mode is disabled by default. To enable the Analog mode, use the PC
utility and set Analog in Command Priority 2 or 3 (leave Serial as priority 1). Note that by default the additional
securities are enabled and will prevent the motor from starting unless the potentiometer is centered, or if the
voltage is below 0.25V or above 4.75V. The drawing shows suggested assignment of Pot 1 to ANA1 and Pot 2
to ANA4. Use the PC utility to enable and assign analog inputs.

USB communication
Use USB only for configuration, monitoring and troubleshooting. USB is not a reliable communication
method when used in an electrically noisy environments and communication will not always recover after
it is lost without unplugging and replugging the connector, or restarting the controller. Always prefer RS232
communication when interfacing to a computer. USB and CAN can operate at the same time on the SBL2360.
Plugging USB to a computer will not disable CAN interface.

RS485 Communication
RS485 is an industry standard for defining serial communication. Due to its balanced signalling, RS485 is
effective over distances, even if other electrical signals are present. Its stability makes it well suited to connect
multiple receivers to a single network.

You can operate RS485 in half-duplex mode and it is well suited for use with the Modbus protocol. On the 25-
pin connector, RS485+ and RS485- pins are present.

Status LEDs and Flashing Patterns

The controller is equipped with three LEDs. A Green Power LED, a Red/Green Status LED, and a Yellow
Communication LED. After the controller is powered on, the Power LED will tun on, indicating that the
controller is On. The Status LED will be flashing at a two second interval. The flashing pattern and colour
provides operating or exception status information.

10 SBL23xx Motor Controller Datasheet Version 1.0 September 12, 2022

 Measured Amps

Idle - Waiting for Command

RS232/USB Mode

RC Pulse Mode

Analog Mode

FIGURE 10.  Normal Operation Flashing Patterns

Short Detected

Overheat

Under or Over Voltage

Power Stage Off

FIGURE 11.  Exception or Fault Flashing Patterns

Additional status information may be obtained by monitoring the controller with the PC utility.

The communication LED gives status information on the CAN and USB.

Always off: No USB, No CAN traffic

Always On: USB Active, No CAN traffic

Flashing On: No USB, CAN traffic

Flashing Off: USB Active, CAN traffic

FIGURE 12.  Communication LED Flashing Patterns

Measured Amps
The controller includes Amps sensors in line with the motor terminals and on the battery ground terminals.
Both Motor Amps and Battery Amps are therefore measured with precision.

When motor is rotating, amps are AC. The SBL23xx measures and is rated based on RMS Amps. The table
below shows the relation between the RMS current and the DC Equivalent in Sinusoidal and Trapezoidal
modes. In sinusoidal mode, DC equivalent are the amps resultant from the torque (Iq) and quadrature (Id)
vectors. In trapezoidal mode, they are the DC amps that flow through the two coils that are active at any one
time.

Amps RMS DC Equivalent

120A 170A (Irms * 1.414)
Sinusoidal
60A 85A (Irms * 1.414)
120A 147A (Irms * 1.225)
Trapezoidal
60A 73.5 (Irms * 1.225)

SBL23xx Motor Controller Datasheet 11

Safe Torque Off - STO
Safe Torque Off is a safe method for switching controller in a state where no torque is generated, regardless
whether the controller is operating normally or is faulty. When STO is enabled, two digital inputs, DIN3 and
DIN4 are remapped as STO1 and STO2. The inputs are redundant and both must have a 6V to 30V signal
present at the same time in order for the Power MOSFETs to be energized. The controller will perform a
self-check of the STO circuit at every power on and every time the STO inputs go from any state to both
high. Once the STO hardware is verified to work, the controller will safely allow the motors to be energized. If
either input is below 1V, the controller’s outputs will be disabled. The STO circuit is verified and validated and
can therefore be trusted instead of external relays. See STO Manual for more information and maintenance
instructions.

By factory default STO functionality is disabled. It must be enabled by removing the jumper located on the
controller’s PCB. STO functionality is only available in the T version of the controller.

6 to 30V
High STO1 STO2 Motors Output
STO1
Low Low Disabled
Low
High Low Disabled/Fault
High
6 to 30V Low High Disabled/Fault
STO2
High High Enabled
Low

FIGURE 13.  STO input levels effects on controller output

The STO function is compliant to:

• IEC 61800-5-2:2007, SIL 3

• IEC 61508:2010, SIL 3
• IEC 62061:2005, SIL 3
• ISO 13849-1:2015, Category 3 Performance Level e

Important Warning
Activating STO does lead to no more torque generation on the motor. The motor will not be actively
stopped but run out. In case of a multiple fault in the power stage a rotation might occur.

Electrical Specifications

Absolute Maximum Values

The values in the table below should never be exceeded, permanent damage to the controller may result.

TABLE 5.

Parameter Measure point Min Typ Max Units

Battery Leads Voltage Ground to VBat 60 (2) Volts
Reverse Voltage on Battery Leads Ground to VBat  – 1 Volts
Power Control Voltage Ground to Pwr Control wire 60 (2) Volts

12 SBL23xx Motor Controller Datasheet Version 1.0 September 12, 2022

 Electrical Specifications

TABLE 5.

Parameter Measure point Min Typ Max Units

Motor Leads Voltage Ground to U, V, W wires 60 (2) Volts
Digital Output Voltage Ground to Output pins 30 Volts
Analog and Digital Inputs Voltage Ground to any signal pin on 15-pin & Hall 30 Volts
inputs
RS232 I/O pins Voltage External voltage applied to Rx pin 30 (3) Volts
Case Temperature Case  – 40 85 ºC
Humidity Case 100 (4) %
Note 1: Only PELV/SELV voltages shall be used
Note 2: Can be even higher because of regeneration voltage. Never inject a DC voltage from a battery or other fixed source
Note 3: No voltage must be applied on Tx pin
Note 4: Non condensing

Power Stage Electrical Specifications (at 25ºC ambient)

TABLE 6.

Parameter Measure point Model Min Typ Max Units

Input Continuous current Power source current All 40 Amps
Output Voltage Ground to U, V, W wires All 0 (1) 60 (2) Volts
Power Control Voltage Ground to Power Control wire All 0 (1) 65 Volts
Minimum Operating Voltage VBat or Pwr Ctrl wires All 10 (3) Volts
Over Voltage protection range Ground to VMot All 5 60 (4) 63 Volts
Under Voltage protection range Ground to VMot All 0 5 (4) 63 Volts
Idle Current Consumption VMot or Pwr Ctrl wires All 50 100 (5) 150 mA
ON Resistance (Excluding wire VMot to U, V or W. Ground to SBL23xx 3.3 mOhm
resistance) U, V or W SBL23xxS 1.65 mOhm
Max Current for 30s Motor current SBL23xx 30 Amps
SBL23xxS 60 Amps
Continuous Max Current per Motor current SBL23xx 20 (6) Amps
channel SBL23xxS 40 (6) Amps
Current Limit range Motor current SBL23xx 10 30 30 Amps
SBL23xxS 20 60 60 Amps
Stall Detection Amps range Motor current SBL23xx 10 30 (7) 30 Amps
SBL23xxS 20 60 (7) 60 Amps
Stall Detection timeout range Motor current All 1 500 (8) 65000 msec

SBL23xx Motor Controller Datasheet 13

 TABLE 6.

Parameter Measure point Model Min Typ Max Units

Short Circuit Detection Between Motor wires or SBL23xx 78 (10) Amps
threshold (9) Between Motor wires and SBL23xxS 186 (10) Amps
ground or Between Motor
wires and Vmot
Motor Acceleration/ Motor Output All 100 500 (11) 65000 msec
Deceleration range
Power cable thickness Power input and output All 14 AWG
Note 1: Negative voltage will cause a large surge current. Protection fuse needed if battery polarity inversion is possible
Note 2: Can be even higher because of regeneration voltage. Never inject a DC voltage from a battery or other fixed source
Note 3: Minimum voltage must be present on VBat or Power Control wire
Note 4: Factory default value. Adjustable in 0.1V increments
Note 5: Current consumption is lower when higher voltage is applied to the controller’s VBat or PwrCtrl wires
Note 6: Estimate. Limited by case temperature. Current may be higher with better cooling
Note 7: Factory default value. Adjustable in 0.1A increments
Note 8: Factory default value. Time in ms that Stall current must be exceeded for detection
Note 9: Controller will stop until idle command given in case of short circuit detection
Note 10: Approximate value
Note 11: Factory default value. Time in ms for power to go from 0 to 100%

Command, I/O and Sensor Signals Specifications

TABLE 7.

Parameter Measure point Min Typ Max Units

Main 5V Output Voltage Ground to 5V pins on 4.6 4.75 4.9 Volts
5V Output Current 5V pins on Molex and DSub25 150 (1) mA
Digital Output Voltage Ground to Output pins 30 (2) Volts
Output On resistance Output pin to ground 0.25 0.5 Ohm
Output Short circuit threshold Output pin 1.7 3.5 Amps
Digital Output Current Output pins, sink current 1.5(2) Amps
Input Impedances (except DIN7-8) AIN/DIN Input to Ground 53 kOhm
Digital Input 0 Level Ground to Input pins  – 1 1 Volts
Digital Input 1 Level Ground to Input pins 3 30 Volts
Analog Input Range Ground to Input pins 0 5.1 Volts
Analog Input Precision Ground to Input pins 0.5 %
Analog Input Resolution Ground to Input pins 1 mV
Pulse durations Pulse inputs 20000 10 us
Pulse repeat rate Pulse inputs 50 250 Hz
Pulse Capture Resolution Pulse inputs 1 us
Minimum Pulse on or Pulse off duration Pulse inputs 25 us
Frequency Capture Pulse inputs 100 2000 Hz
Encoder Frequency 500 kHz
Note 1: Sum of all 5VOut outputs
Note 2: Outputs are Open Drain. They pull to ground when on and float when off. Load must be connected between output
and positive voltage

14 SBL23xx Motor Controller Datasheet Version 1.0 September 12, 2022

 Electrical Specifications

Operating & Timing Specifications

TABLE 8.

Parameter Measure Point Min Typ Max Units

Command Latency Command to output change 0 0.5 1 ms
Maximum PWM duty cycle Motor Output 90.8 %
Closed Loop update rate Internal 1000 Hz
RS232 baud rate Rx & Tx pins 115200 (1) Bits/s
RS232 Watchdog timeout Rx pin 1 (2) 65000 ms
Note 1: 115200, 8-bit, no parity, 1 stop bit, no flow control
Note 2: May be disabled with value 0

Motor Characteristics Requirement for FOC current control

For proper FOC current control and motor operation under sinusoidal commutation, it is necessary for the motor
to meet a minimum load inductance, minimum load L/R and maximum electric operating speed requirements.
The minimum required inductance is necessary in order to ensure low Total Harmonic Distortion (THD) of the mo-
tor current. Furthermore, to achieve proper current response and stability, the controller’s current loop sampling
rate will limit the minimum permissible motor time constant τ=L/R and the maximum operating electric speed.

TABLE 9.
Parameter Input DC Voltage (V) Value Units
Minimum load phase inductance (1) 12 25 uH
24 40 uH
48 60 uH
60 80 uH
Minimum load inductance/resistance ratio (1) 0 - 60 1 msec
Maximum operating electric speed (2) 0 - 60 15000 RPM
Note 1: Star connected three phase load considered. In case the motor phase inductance does not fulfill the above re-
quirements (minimum phase inductance and inductance/resistance ratio) an external AC inductor with proper inductance
value is recommended to be added.
Note 2: Maximum rotor speed is calculated from the maximum operating electric speed and pole pairs. For example, in a
motor with 4 pole pairs the maximum operating rotor speed is 15000/4 = 3750 rpm

Scripting

TABLE 10.

Parameter Measure Point Min Typ Max Units

Scripting Flash Memory Internal 32000 Bytes
Integer Variables Internal 4096 Words (1)
Boolean Variables Internal 8192 Symbols
Execution Speed (2) Internal 30,000 70,000 Lines/s
Note 1: 32-bit words
Note 2: Execution Speed was calculated based on low communication load with the controller. In high communication
workload, minimum time might be reduced drastically.

SBL23xx Motor Controller Datasheet 15

Thermal Specifications

TABLE 11.

Parameter Measure Point Min Typ Max Units

Case Temperature Case  – 40 85 (1) ºC
Thermal Protection range Case 80 90 (2) ºC
Power Dissipation Case 10 Watts
Thermal resistance Power MOSFETs to plate 0.6 ºC/W
Humidity Case 95 %
Ambient temperature Ambient 55 ºC
Pollution Degree - PD 2
Fast fuse to install(3)(4) SBL2360 30 2 x 30 Amps
SBL2360S 2 x 30 Amps
Overload protection - Check Note 5
Note 1: Thermal protection will protect the controller power
Note 2: Max allowed power out starts lowering at minimum of range, down to 0 at max of range
Note 3: There are two power terminal inputs. Fuse should be installed in both of them for safety.
Note 4: In dual channel controller, for operating only one channel install 30A fuse and for operating both channels 2 x 30A fuse
should be installed. Power source must be capable to blow the fuse instantly in case of short circuit
Note 5: Current limiting mechanism available through firmware. External overload motor protection can be used if required
(provided by user)

STO Specifications

TABLE 12.

Parameter Measure Point Min Typ Max Units

STO Input High Level Ground to STO input pin 6 30 Volts
STO Input Low Level Ground to STO input pin 0 1 Volts
STO Response Time Input to output change 5 msec
STO Operating temperature  – 20 55 ºC
STO Storage temperature  – 20 70 ºC
Humidity 5 95 %
IP degree IP40
Operating Altitude 2000 m
Cable Length 2 m
EMC Immunity According to IEC 61800-3 and IEC 61800-5-2 Annex E
CE Declaration Available at www.roboteq.com

16 SBL23xx Motor Controller Datasheet Version 1.0 September 12, 2022

 Electrical Specifications

Mechanical Specifications

TABLE 13.

Parameter Measure Point Min Typ Max Units

Weight Board 215 (0.47) g (lbs)
Power Connectors Wiring Screw terminal 22 14 AWG
25.7

16.7
123.0

FIGURE 14.  SBL23xx Side View and Dimensions

D 3.2
72.4
83.0

112.4

FIGURE 15.  SBL23xx Top View and Dimensions

SBL23xx Motor Controller Datasheet 17