B0099 - Robo Claw 2 Channel 5A Motor Controller … · B0099 - Robo Claw 2 Channel 5A Motor...

B0099 - Robo Claw 2 Channel 5A Motor ControllerData Sheet

B0099 - Robo Claw 2 Channel 5A Motor Controller Data Sheet

(c) 2010 BasicMicro. All Rights Reserved.



2

Feature Overview:

• 2Channelat5A,Peak7A• HobbyRCRadioCompatible• SerialMode• TTLInput• AnalogMode• 2ChannelQuadratureDecoding• ThermalProtection• LithiumCutOff• BatteryEliminationCircuit(BEC)• PacketSerial• HighSpeedDirectionSwitching• FlipOverSwitch• OverCurrentProtection• RegenerativeBraking

Basic DescriptionTheRoboClaw2X25Ampisanextremelyefficient,versatile,dualchannelsynchronousregenerativemotorcontroller.ItsupportsdualquadratureencodersandcansupplytwobrushedDCmotorswith5Ampscontinuousand7Amppeak.

Withdualquadraturedecodingyougetgreatercontroloverspeedandvelocity.Automaticallymaintainaspeedeveniftheloadincreases.RoboClawalsohasabuiltinPIDroutineforusewithanexternalcontrolsystem.

RoboClawiseasytocontrolwithseveralbuiltinmodes.ItcanbecontrolledfromastandardRCreceiver/transmitter,serialdevice,microcontrollerorananalogsource,suchasapotentiometerbasedjoystick.RoboClawisequippedwithscrewterminalforfastconnectanddisconnect.Allmodesaresetbytheonboarddipswitchesmakingsetupasnap!

Optical EncodersRoboClawfeaturesdualchannelquadraturedecoding.RoboClawgivesyoutheabilitytocreateaclosedloopsystem.AccuratelyknowamotorsspeedanddirectiongivingyougreatercontroloverDCmotorssystems.

Power SystemTheRoboClawisequippedwithsynchronousregenerativemotordrivers.Thismeansyourbatteryisrechargedwhenslowingdown,brakingorreversing.Alsoincludedisa5VDCbatteryeliminatorcircuit(BEC).TheBECcansupplyausefulcurrentofaround100mAathigheroperatingvoltages.TheBECismeanttoprovidepowertoyourmicrocontrollerorRCreceiver.

R7

R5

SW1

S1S2S3+5V

R26

R24R25R4

U4

C3

LB+

Sta

tus2

Sta

tus1

2 | 1

- + B A

VD

3

Reset

Power Sel

0503

1

Err

orR

3

LB

C4

M1A M1B B+ B- M2B M2ABasicmicro.com (c) 2009

C5

ON

CTS

12

34

56

78

910

Y1



3

R7 R

5

SW

1

S1

S2

S3

+5V

R26

R24

R25

R4

U4

C3

LB+ Status2

Status1

2 | 1-+BA

VD3Reset

Pow

er Sel

0503

1

ErrorR3

LB

C4

M1A

M1B

B+

B-

M2B

M2A

Bas

icm

icro

.com

(c) 2

009

C5ONCTS

12345678910

Y1ONCTS

12345678910

Hardware Overview:

A: MicrocontrollerB: DIPSwitchC: LogicBattery3.5mmScrewTerminalsD: EncoderInputHeaderE: InputControlHeadersF: VCConInputControlHeaderDisableJumperG: ResetButtonandResetHeaderH: LogicVoltageRegulatorI: LogicVoltageSourceSelectionHeaderJ: DCMotorChannel2ScrewTerminalsK: MainBatteryInputScrewTerminalsL: DCMotorChannel1ScrewTerminalsM: StatusLED1N: StatusLED2O: ErrorLED

A

B C

D

EF

GH

I J

K

L

M

N O



4

Dimensions:

Board Edge: 1.9”WX1.65”LHole Pattern: 0.100D,1.46”Wx1.73”H

1.65”

1.9”

1.46”1.73”

R7

R5

SW1

S1S2S3+5V

R26

R24R25R4

U4

C3

LB+

Sta

tus2

Sta

tus1

2 | 1

- + B A

VD

3

Reset

Power Sel

0503

1

Err

orR

3

LB

C4


C5 O

NC

TS

12

34

56

78

910

Y1

ON

CTS

12

34

56

78

910



5

R7

R5

SW1

S1S2 S3 +5V

R26

R24R25 R4

U4

C3

LB+

Status2

Status1

2 | 1-+BA

VD

3

Res

et

Power Sel

05 03

1

Error

R3

LB

C4

M1AM1BB+B-M2BM2ABasicmicro.com (c) 2009

C5

ON

CTS

12

34

56

78

910

Y1

ON

CTS

12

34

56

78

910

Header Overview

Logic Battery Screw TerminalsThelogiccircuitscanbepoweredfromthemainbatteryorasecondarybatterywiredtoCN3.Inmanysituationstheloadonthemainbatterymaybetogreattokeepthelogiccircuitsuppliedproperlyinthissituationasecondbatteryisutilized.JP1controlswhatsourcepowersthelogiccircuits.

R7 R

5

SW

1

S1

S2

S3

+5V

R26

R24

R25

R4

U4

C3

LB+ Status2

Status1

2 | 1-+BA

VD3Reset

Pow

er Sel

0503

1

ErrorR3

LB

C4

M1A

M1B

B+

B-

M2B

M2A

Bas

icm

icro

.com

(c) 2

009

C5ONCTS

12345678910

Y1ONCTS

12345678910

- Logic Battery

Encoder Inputs ->

Control Inputs ->

5V Jumper ->->

Logic Battery + ->

Logic Battery - ->

LB+

LB

Reset Header ->

Logic VCC Select ->



6

Encoder InputsThisheaderissetupfordualquadratureencoders.AandBaretheinputsfromtheencoders.Theheaderalsosupplies5VDCtopowertheencoders.WhenconnectingtheencodermakesuretheleadingchannelforthedirectionofrotationisconnectedtoA.Ifoneencoderisbackwardstotheotheryouwillhaveoneinternalcountercountingupandtheothercountingdown.WhichwillaffecttheoperationofRoboClaw.Refertothedatasheetoftheencoderyouareusingforchanneldirection.

Control InputsS1,S2andS3aresetupforstandardservostyleheadersGND,+5VandI/O.

I/O

->

VC

C -

>

GN

D -

>

R7 R

5

SW

1

S1

S2

S3

+5V

R26

R24

R25

R4

U4

C3

LB+ Status2

Status1

2 | 1-+BA

VD3Reset

Pow

er Sel

0503

1

ErrorR3

LB

C4

M1A

M1B

B+

B-

M2B

M2A

Bas

icm

icro

.com

(c) 2

009

C5ONCTS

12345678910

Y1ONCTS

12345678910

Encoder 1 -<

-

<-

- Encoder 2

Encoder VCC ->

Encoder VSS ->

Encoder Channel A ->

Encoder Channel B ->

2 | 1-+BA

R7 R

5

SW

1

S1

S2

S3

+5V

R26

R24

R25

R4

U4

C3

LB+ Status2

Status1

2 | 1-+BA

VD3Reset

Pow

er Sel

0503

1

ErrorR3

LB

C4

M1A

M1B

B+

B-

M2B

M2A

Bas

icm

icro

.com

(c) 2

009

C5ONCTS

12345678910

Y1ONCTS

12345678910

S1

S2

S3



7

BEC JumperVCConcontrolinputheadersS1,S2andS3canbeturnedofforonbythejumperJP3.WhenBECjumperisinstalled5VDCissuppliedfromthelogicsupplytothecenterpinofthe3pinheaders.InsomesystemstheRCreceivermayhaveitsownsupplyandwillconflictwiththeRoboClawlogicsupply.RemovingtheBECjumperdisablesVCConS1,S2andS3headers.

Reset HeaderTheresetheaderallowsexternaldeviceslikeamicrocontrollertohardresetRoboClaw.The2pinheaderisGNDandRST.ToexternallyresetRoboClawshorttheRSTpintoGND(VSS).

R7R

5

SW

1

S1

S2

S3

+5V

R26

R24

R25

R4

U4

C3

LB+Status2

Status1

2 | 1-+BA

VD3 Reset

Pow

er S

el

0503

1

Error R3

LB

C4

M1A

M1B

B+

B-

M2B

M2A

Basicm

icro.com (c) 2009

C5ON CTS

1 2 3 4 5 6 7 8 9 10

Y1 ON CTS

1 2 3 4 5 6 7 8 9 10

+5V

R7

R5

SW1

S1S2 S3 +5V

R26

R24R25 R4

U4

C3

LB+

Status2

Status1

2 | 1-+BA

VD

3

Res

et

Power Sel

05 03

1

Error

R3

LB

C4


C5

ON

CTS

12

34

56

78

910

Y1

ON

CTS

12

34

56

78

910

VSS ->

RST ->

Res

et



8

Logic Supply SelectTheRoboClawlogicrequires5VDCwhichisprovidedfromtheonboardregulator.Theregulatorsourcevoltageissetwiththelogicsupplyjumper.Pins1-2=LogicBattery,2-3=MainBattery.JP1labelisshownupsidedowntomatchtheorientationontheRoboClaw.

<- 1

<- 2

<- 3

R7

R5

SW1

S1S2 S3 +5V

R26

R24R25 R4

U4

C3

LB+

Status2

Status1

2 | 1-+BA

VD

3

Res

et

Power Sel

05 03

1

Error

R3

LB

C4


C5

ON

CTS

12

34

56

78

910

Y1

ON

CTS

12

34

56

78

910



9

Main Battery Screw TerminalsThemainbatteryconnectionsaremarkedwithaB-andB+onthemainscrewterminal.B+isthepositivesideofthebatterytypicallymarkedwitharedwire.TheB-isthenegativesideofthebatteryandtypicallymarkedwithablackwire.Whenconnectingthemainbatteryitsagoodpracticetouseaswitchtoturnthemainpoweronandoff.WhenplacingaswitchinbetweentheRoboClawandmainbatteryyoumustuseaswitchwiththepropercurrentrating.SincetheRoboClawcandrawupto7Apeakyoushoulduseaswitchratedforatleast10A.Themainbatterycanbe6Vto30VDC.

Motor Screw TerminalsThemotorscrewterminalsaremarkedwithM1A/M1Bforchannel1andM2A/M2Bforchannel2.Thereisnospecificpolaritiesforthemotors.Howeverifyouwantbothmotorsturninginthesamedirectionona4wheeledrobotyouneedtoreverseoneofthemotorsasshownbelow:

M1A

M1B

B+

B-

M2B

M2A

DC Motor 1

12VDC Battery

Power Switch

M1A

M1B

B+

B-

M2B

M2A

DC Motor 2

DC Motor 1



10

Status and Error LEDsTheRoboClawhas3mainLEDs.2StatusLEDsand1ErrorLED.WhenRoboClawisfirstpoweredupall3LEDshouldblinkseveraltimesbrieflytoindicateall3LEDsarefunctional.The2statusLEDsfunctiondifferentlydependingonthemodethatisset.

Analog Mode StatusLED1=Oncontinuous. StatusLED2=Onwhenmotor(s)active.

RC Mode StatusLED1=Oncontinuous,blinkwhenpulsereceived. StatusLED2=Onwhenmotor(s)active.

Serial Modes StatusLED1=Oncontinuous,blinkonserialreceive. StatusLED2=Onwhenmotor(s)active.

Errors - Error LED OverCurrent =Oncontinuous. OverHeat =Fastblinking(.075secondintervals). MainBattLow =Halfsecondblinkingintervals. MainBattHigh =Flickerblinking(1secondon,.3secondsoff). LogicBattLow =Steadyblinking(.5secondon,.5secondoff). LogicBattHigh =Steadyblinking(.5secondon,.5secondoff). QuadDecoderFail =ErrorLEDandStatusLED2alternateblinkonstartup.

----------------------- Error LED----------------- Status LED 2

<-----

<--------

R7R

5

SW

1

S1

S2

S3

+5V

R26

R24

R25

R4

U4

C3

LB+Status2

Status1

2 | 1-+BA

VD3 Reset

Pow

er S

el

0503

1

Error R3

LB

C4

M1A

M1B

B+

B-

M2B

M2A

Basicm

icro.com (c) 2009

C5ON CTS

1 2 3 4 5 6 7 8 9 10

Y1 ON CTS

1 2 3 4 5 6 7 8 9 10

<---- Status LED 1



11

DIP Switch OverviewThedipswitchonRoboClawisusedtosetitsoperatingmodesandthemanyoptions.TheswitchismarkedwithanONlabelatitstop.Theswitchesarealsolabeledfromlefttorightstartingwithswitch1andendingwithswitch10.WhenadipswitchismovedtowardthelabelONitisconsideredON.WhentheswitchisfacingawayfromtheONlabelisitconsideredoff.BecarefultoensuretheswitchisnotfloatinginbetweenandisfirmlyOFForON.Seeillustrationbelow.Theredswitch(SW1)isintheONposition.ThegreycoloredswitchesareintheOFFposition.

R7R

5

SW

1

S1

S2

S3

+5V

R26

R24

R25

R4

U4

C3

LB+Status2

Status1

2 | 1-+BA

VD3 Reset

Pow

er S

el

0503

1

Error R3

LB

C4

M1A

M1B

B+

B-

M2B

M2A

Basicm

icro.com (c) 2009

C5ON CTS

1 2 3 4 5 6 7 8 9 10

Y1 ON CTS

1 2 3 4 5 6 7 8 9 10

ON CTS

1 2 3 4 5 6 7 8 9 10



12

Low Voltage CutoffRoboClawhasabuiltinlowvoltageprotection.Thishastwomainpurposed.ToprotectRoboClawfromrunningerraticallywhenthemainbatterylevelgetstolowandprotectaLithiumbatteryfrombeingdamaged.

Voltage SW8 SW9 SW10Not Monitored OFF OFF OFFLead Acid - Auto ON OFF OFF2- Cell (6V Cutoff) OFF ON OFF3- Cell (9V Cutoff) ON ON OFF4- Cell (12V Cutoff) OFF OFF ON5- Cell (15V Cutoff) ON OFF ON6- Cell (18V Cutoff) OFF ON ON7- Cell (21V Cutoff) ON ON ON



13

Robo Claw ModesThereare4modes.EachwithaspecificwaytocontrolRoboClaw.Thefollowinglistexplaineachmodeandtheidealapplication.

Mode 1 - RC InputWithRCinputmodeRoboClawcanbecontrolledfromanyhobbyRCradiosystem.RCinputmodealsoallowslowpoweredmicrocontrollersuchasaBasicStamporNanotocontrolRoboClaw.RoboClawexpectsservopulseinputstocontrolthedirectionandspeed.Verysimilartohowaregularservoiscontrolled.

Mode 2 - AnalogAnalogmodeusesananalogsignalfrom0Vto5Vtocontrolthespeedanddirectionofeachmotor.RoboClawcanbecontrolledusingapotentiometerorfilteredPWMfromamicrocontroller.AnalogmodeisidealforinterfacingRoboClawjoystickpositioningsystemsorothernonmicrocontrollerinterfacinghardware.

Mode 3 - Simple SerialInsimpleserialmodeRoboClawexpectsTTLlevelRS-232serialdatatocontroldirectionandspeedofeachmotor.SimpleserialistypicallyusedtocontrolRoboClawfromamicrocontrollerorPC.IfusingaPCaMAX232typecircuitmustbeusedsinceRoboClawonlyworkswithTTLlevelinput.SimpleserialincludesaslaveselectmodewhichallowsmultipleRoboClawstobecontrolledfromasignalRS-232port(PCormicrocontroller).Simpleserialisaonewayformat,RoboClawonlyreceivesdata.

Mode 4 - Packet SerialInpacketserialmodeRoboClawexpectsTTLlevelRS-232serialdatatocontroldirectionandspeedofeachmotor.PacketserialistypicallyusedtocontrolRoboClawfromamicrocontrollerorPC.IfusingaPCaMAX232typecircuitmustbeusedsinceRoboClawonlyworkswithTTLlevelinput.InpacketserialmodeeachRoboClawisassignedanaddressusingthedipswitches.Thereare8addressesavailable.Thismeansupto8RoboClawscanbeonthesameserialport.WhenusingthequadraturedecodingfeatureofRoboClawpacketserialisrequiredsinceitisatwowaycommunicationsformat.ThisallowsRoboClawtotransmitinformationabouttheencoderspositionandspeed.



14

RCInput



15

Mode 1 - RC InputForRCmodesetSW1=ON.RCmodeistypicallyusedwhencontrollingRoboClawfromahobbyRCradio.ThismodecanalsobeusedtosimplifydrivingRoboClawfromamicrocontrollerusingservopulses.Thereare4optionsinRCInputmode.TheseoptionsaresetwithSW4,SW5,SW6andSW7.

Switch 4 - Mixing Mode SW4=ON:TurnsmixingmodeON.S1controlsforwardandreverse.S2controlssteering. Controlwillbelikeacar. SW4=OFF:TurnsmixingmodeOFF.S1controlsmotor1speedanddirection.S2controls motor2speedanddirection.Controlwillbelikeatank.

Switch 5 - Exponential Mode SW5=ON:TurnsexponentialmodeON.Exponentialresponsesoftensthecentercontrol position.Thismodeisidealwithtankstylerobots. SW5=OFF:TurnsexponentialmodeOFF.Motorresponsewillbelinearanddirectly proportionaltothecontrolinput.Idealfor4wheelstylerobots.

ON CTS

1 2 3 4 5 6 7 8 9 10

ON CTS

1 2 3 4 5 6 7 8 9 10

ON CTS

1 2 3 4 5 6 7 8 9 10



16

Switch 6 - MCU or RC Control SW6=ON:TurnsMCUcontrolmodeON.RoboClawwillcontinuetoexecutelastpulsereceived untilnewpulsereceived.Signallostfailsafeandautocalibrationareoffinthismode. SW6=OFF:TurnsRCcontrolmodeON.RoboClawwillcalibratethecenterandendpoints automaticallytomaximizestickthrow.Thismodeincludesafailsafe.Ifcontrolinputislost, RoboClawwillshutdown.

Switch 7 - Flip Switch Input SW7=ON:Flipswitchinputrequiresservopulse.Pulsegreaterthan1.5mswillreverse steeringcontrol.Theflipswitchistypicallyusedinrobotcombatstoautomaticallyreversethe controlsifarobotisflippedover. SW7=OFF:FlipswitchinputexpectsTTLcontrolsignal.0Vforflippedand5Vfornormal.

ON CTS

1 2 3 4 5 6 7 8 9 10

ON CTS

1 2 3 4 5 6 7 8 9 10



17

Servo Pulse RangesTheRoboClawexpectsRCservopulsesonS1andS2todrivethemotorswhenthedipswitchesaresetforRCmode.Thecenterpointsarecalibratedatstartup.1000usisthedefaultforfullreverseand2000usisthedefaultforfullforward.TheRoboClawwillautocalibratetheserangesonthefly.Ifapulsesmallerthan1000usorlargerthan2000usisdetectedthenewpulseswillbesetasthenewrange.

Pulse Function1000us FullReverse2000us FullForward



18

R7

R5

SW1

S1S2S3+5V

R26

R24R25R4

U4

C3

LB+

Sta

tus2

Sta

tus1

2 | 1

- + B A

VD

3

Reset

Power Sel

0503

1

Err

orR

3

LB

C4


C5 O

NC

TS

12

34

56

78

910

Y1

ON

CTS

12

34

56

78

910

RC Wiring ExampleConnecttheRoboClawasshownbelow.SetswitchesSW1andSW4toON.Makesureyoucenterthecontrolsticksandturntheradioonfirst,thenthereceiver,thenRoboClaw.ItwilltakeRoboClawabout1secondtocalibratetheneutralposition.

DC Motor 1 DC Motor 2

Power Switch

12VDC Battery

BAT

-

THRAILEELERUDGERAUX

+ ~

SPEKTRUM

AR

6000Battery



19

RC Control From MCU ExampleTheexamplewilldrivea2motorrobot(Lynxmotion4Wheel)inreverse,stop,forward,leftturnandthenrightturn.TheprogramwaswrittenandtestedwithaBasicATOMProandP0connectedtoS1,P1connectedtoS2.SetswitchesSW1,SW4,SW5andSW6toON.

;Basic Micro Robo Claw RC Mode. Control Robo Claw ;with servo pulses from a microcontroller. ;Switch settings: SW1=ON, SW4=ON, SW5=ON and SW6=ON

Main pulsout P15,(1500*2) ; stop pulsout P14,(1500*2) ; stop pause 2000

pulsout P15,(500*2) ; full backward pause 1000 pulsout P15,(1500*2) ; stop pause 2000 pulsout P15,(2500*2) ; full forward pause 1000

pulsout P15,(1500*2) ; stop pause 2000 pulsout P14,(500*2) ; left turn pause 1000 pulsout P14,(1500*2) ; stop pause 2000 pulsout P14,(2500*2) ; right turn pause 1000 goto main

ON CTS

1 2 3 4 5 6 7 8 9 10



20

AnalogInput



21

Mode 2 - Analog InputForAnalogmodesetSW1,SW2andSW3=OFF.InthismodeS1andS2aresetasanaloginputs.Voltagesof0V=Fullreverse,2.5V=Stopand5V=Fullforward.Youcanuselinearpotentiometersof1Kto100KtocontrolRoboClaw.OryoucanuseaPWMsignaltocontrolRoboClawinanalogmode.IfusingaPWMsignaltocontrolRoboClawyouwillneedasimplefiltercircuittocleanupthepulse.

Switch 4 - Mixing Mode SW4=ON:TurnsmixingmodeON.Onechannelinputtocontrolforwardandreverse.Second channelinputforsteeringcontrol.Controlwillbelikeacar. SW4=OFF:TurnsmixingmodeOFF.Onechannelcontrolsonemotorspeedanddirection. Secondchannelcontrolstheothermotorspeedanddirection.Controlwillbelikeatank.

Switch 5 - Exponential Mode SW5=ON:TurnsexponentialmodeON.Exponentialresponsesoftensthecentercontrol position.Thismodeisidealwithtankstylerobots. SW5=OFF:TurnsexponentialmodeOFF.Motorresponsewillbelinearanddirectly proportionaltothecontrolinput.Idealfor4wheelstylerobots.

ON CTS

1 2 3 4 5 6 7 8 9 10

ON CTS

1 2 3 4 5 6 7 8 9 10

ON CTS

1 2 3 4 5 6 7 8 9 10



22

Switch 6 - 4x Sensitivity SW6=ON:Turns4xsensitivityON.WiththisoptiontheRoboClawinputcontrolvoltagesare nowmoresensitive.Voltageof1.875V=Fullreverse,2.5V=Stopand3.125V=Fullforward. ThisoptioncanalsobeusedtodriveRoboClawfroma3.3vmicrocontroller. SW6=OFF:Turns4xsensitivityOFF.Normalanalogvoltagesapply.Voltagesof0V=Full reverse,2.5V=Stopand5V=Fullforward.

ON CTS

1 2 3 4 5 6 7 8 9 10



23

Analog Wiring ExampleConnecttheRoboClawasshownbelowusingtwopotentiometers.ShortJP3(BECON)andsetswitchSW4toON(MixingMode).YoucanalsousethebelowwireexamplewithSW4OFF.Centerthepotentiometersbeforeapplyingpowerortheattachedmotorswillstartmoving.S1potentiometerinmixmode(SW4)willcontrolforwardandreverse.S2potentiometerinmixmode(SW4)willcontrolturning(LEFT/RIGHT).

R7

R5

SW1

S1S2S3+5V

R26

R24R25R4

U4

C3

LB+

Sta

tus2

Sta

tus1

2 | 1

- + B A

VD

3

Reset

Power Sel

0503

1

Err

orR

3

LB

C4


C5 O

NC

TS

12

34

56

78

910

Y1

ON

CTS

12

34

56

78

910


Power Switch

12VDC Battery

Battery

10

K1

0K

S1 Potentiometer

S2 Potentiometer



24

SimpleSerial



25

Mode 3 - Simple SerialSimpleSerialmodesetSW1=OFF,SW2=ONandSW3=OFF.InthismodeS1acceptsTTLlevelbytecommands.RoboClawisreceiveonlyanduses8N1formatwhichis8bits,noparitybitsand1stopbit.IfyourusingamicrocontrolleryoucaninterfacedirectlytoRoboClaw.IfyourusingaPCalevelshiftingcircuitisrequired(MAX232).Thebaudrateissetbythedipswitches.

Switch 1 - Slave Select SW1=ON:TurnsslaveselectON.SlaveselectisusedwhenmorethanoneRoboClawison thesameserialbuss.WhenslaveselectissettoONtheS2pinbecomestheselectpin.SetS2 high(5V)andRoboClawwillexecutethenextcommands.SetS2low(0V)andRoboClawswill ignoreallsentcommands.

Simple Serial Slave SettinguptheRoboClawforserialslaveisstraightforward.MakesureallRoboClawsshare acommonsignalground(GND)shownbytheblackwire.P0(Brownline)isconnectedtoS1 ofall3RoboClawswhichistheserialinoftheRoboClaw.P1,P2andP3areconnectedtoS2. OnlyoneMCUpinisconnectedtoeachRoboClawsS2pin.ToenableRoboClawholdS2high otherwiseanycommandssentisignored.

ON CTS

1 2 3 4 5 6 7 8 9 10

ON CTS

1 2 3 4 5 6 7 8 9 10

MCU

GND -P0 -P1 -P2 -P3 -

R7

R5

SW1

S1S2S3+5V

R26

R24R25R4

U4

C3

LB+

Sta

tus2

Sta

tus1

2 | 1

- + B A

VD

3

Reset

Power Sel

0503

1

Err

orR

3

LB

C4


C5 O

NC

TS

12

34

56

78

910

Y1

ON

CTS

12

34

56

78

910

R7

R5

SW1

S1S2S3+5V

R26

R24R25R4

U4

C3

LB+

Sta

tus2

Sta

tus1

2 | 1

- + B A

VD

3

Reset

Power Sel

0503

1

Err

orR

3

LB

C4


C5 O

NC

TS

12

34

56

78

910

Y1

ON

CTS

12

34

56

78

910

R7

R5

SW1

S1S2S3+5V

R26

R24R25R4

U4

C3

LB+

Sta

tus2

Sta

tus1

2 | 1

- + B A

VD

3

Reset

Power Sel

0503

1

Err

orR

3

LB

C4


C5 O

NC

TS

12

34

56

78

910

Y1

ON

CTS

12

34

56

78

910



26

Baud RateRoboClawsupports4baudratesinserialmode.Thebaudrateisselectedbysettingswitch4and5.

Baud Rate SW4 SW52400 OFF OFF9600 ON OFF19200 OFF ON38400 ON ON

2400 Baud 9600 Baud

19200 Baud 38400 Baud

Simple Serial Command SyntaxTheRoboClawsimpleserialissetuptocontrolbothmotorswithonebytesizedcommandcharacter.Sinceabytecanbeanythingfrom0to255thecontrolofeachmotorissplit.1to127controlschannel1and128to255controlschannel2.Commandcharacter0willshutdownbothchannels.Anycharactersinbetweenwillcontrolspeed,directionofeachchannel.

Character Function0 ShutsDownChannel1and21 Channel1-FullReverse64 Channel1-Stop127 Channel1-FullForward128 Channel2-FullReverse192 Channel2-Stop255 Channel2-FullForward

ON CTS

1 2 3 4 5 6 7 8 9 10

ON CTS

1 2 3 4 5 6 7 8 9 10

ON CTS

1 2 3 4 5 6 7 8 9 10

ON CTS

1 2 3 4 5 6 7 8 9 10



27

Simple Serial Wiring ExampleInsimpleserialmodetheRoboClawcanonlyreceiveserialdata.

R7

R5

SW1

S1S2S3+5V

R26

R24R25R4

U4

C3

LB+

Sta

tus2

Sta

tus1

2 | 1

- + B A

VD

3

Reset

Power Sel

0503

1

Err

orR

3

LB

C4


C5 O

NC

TS

12

34

56

78

910

Y1

ON

CTS

12

34

56

78

910


Power Switch

12VDC Battery

BatterySOUTSINATNVSSP0P1P2P3P4P5P6P7P16P17

VINVSSRESVCCP15P14P13P12P11P10P9P8P19P18



28

Simple Serial ExampleThefollowingexamplewillstartbothchannelsinreverse,stop,thenfullspeedforward.TheprogramwaswrittenandtestedwithaBasicATOMProandP0connectedtoS1.SetswitchSW2andSW5toON.

;Basic Micro Robo Claw Simple Serial Test;Switch settings: SW2=ON and SW5=ON;Make sure BAP and Robo Claw share common GND!

Main Serout P15, i19200, [0] ;Full stop both channels Pause 500 Serout P15, i19200, [96,224] ;Foward slowly Pause 3000 Serout P15, i19200, [127,255] ;Foward fast Pause 3000

Serout P15, i19200, [64,192] ;Full stop both channels Pause 500 Serout P15, i19200, [32,160] ;Reverse slowly Pause 3000 Serout P15, i19200, [1,128] ;Reverse fast Pause 3000 Goto Main

ON CTS

1 2 3 4 5 6 7 8 9 10



29

PacketSerial



30

Mode 4 - Packet SerialPacketserialmodesetSW3=ONandthenselectedaddress.Seetablebelow.PacketserialisusedtocommunicatemoresophisticatedinstructionstoRoboClaw.RoboClawcansendorreceiveserialdatainpacketmode.Thebasiccommandstructuresconsistsofaddressbyte,commandbyte,databytesandachecksum.Theamountofdataeachcommandwillsendorreceivecanvary.InpacketmodetheRoboClawincludesascriptinglanguagetoallowformorecomplexfunctionswhenusingquadraturedecodingabilities.

Baud RatePacketserialsupportsthesamebaudratemodesassimpleserialandusesthesameRS2328N1format.Thefollowingtabledefinestheavailablebaudratesandtheirrespectiveswitchsettings.

Baud Rate SW4 SW52400 OFF OFF9600 ON OFF19200 OFF ON38400 ON ON

AddressWhenusingpacketserialeachRoboClawmustbeassignedauniqueaddress.Withupto8addressesavailableyoucanhaveupto8RoboClawsbussedonthesameRS232port.Thefollowingtabledefinestheaddressesandtheirrespectiveswitchsettings.

Address SW1 SW6 SW7128 (0x80) OFF OFF OFF129 (0x81) OFF ON OFF130 (0x82) OFF OFF ON131 (0x83) OFF ON ON132 (0x84) ON OFF OFF133 (0x85) ON ON OFF134 (0x86) ON OFF ON135 (0x87) ON ON ON

ON CTS

1 2 3 4 5 6 7 8 9 10



31

CRC Checksum CalculationAllpacketserialcommandsusea7bitCRCchecksumtopreventcorruptcommandsfrombeingexecuted.SincetheRoboClawexpectsa7bitvaluethe8thbitismasked.ThebasicCRCchecksumiscalculatedasfollows:

Address+Command+Data=Checksum

Tomaskthe8thbityouusecanasimplemathexpressioncalledANDasshownbelow:

Serout P15, i19200, [128, 0, 127, (255 & 0X7F)]

Thehexadecimalvalue0X7Fisusedtomaskthe8thbit.Youcanalsouseabinaryvalueof01111111asshownbelow:

Serout P15, i19200, [128, 0, 127, (255 & %01111111)]



32

Commands 0 - 7 Standard CommandsThefollowingcommandsarethestandardsetofcommandsusedwithpacketmode.Thecommandsyntaxisthesameforcommands0to7:

Address, Command, ByteValue, CRC

0 - Drive Forward M1Drivemotor1forward.Validdatarangeis0-127.Avalueof127=fullspeedforward,64=abouthalfspeedforwardand0=fullstop.ExamplewithRoboClawaddresssetto128:

Serout P15, i19200, [128, 0, 127, (255 & 0X7F)] ;M1 full speed forward

1 - Drive Backwards M1Drivemotor1backwards.Validdatarangeis0-127.Avalueof127fullspeedbackwards,64=abouthalfspeedbackwardand0=fullstop.ExamplewithRoboClawaddresssetto128:


2 - Set Minimum Main Voltage Setsmainbattery(B-/B+)minimumvoltagelevel.IfthebatteryvoltagesdropsbelowthesetvoltagelevelRoboClawwillshutdown.Thevalueisclearedatstartupandmustsetaftereachpowerup.Thevoltageissetin.2voltincrements.Avalueof0setstheminimumvalueallowedwhichis6V.Thevaliddatarangeis0-120(6V-30V).Theformulaforcalculatingthevoltageis:(DesiredVolts-6)x5=Value.Examplesofvalidvaluesare6V=0,8V=10and11V=25.ExamplewithRoboClawaddresssetto128:

Serout P15, i19200, [128, 2, 25, (165 & 0X7F)]

3 - Set Maximum Main VoltageSetsmainbattery(B-/B+)maximumvoltagelevel.Thevaliddatarangeis0-154(0V-30V).Ifyouareusingabatteryofanytypeyoucanignorethissetting.Duringregenerativebreakingabackvoltageisappliedtochargethebattery.WhenusinganATXtypepowersupplyifitsensesanythingover16Vitwillshutdown.Bysettingthemaximumvoltagelevel,RoboClawbeforeexceedingitwillgointohardbreakingmodeuntilthevoltagedropsbelowthemaximumvalueset.Theformulaforcalculatingthevoltageis:DesiredVoltsx5.12=Value.Examplesofvalidvaluesare12V=62,16V=82and24V=123.ExamplewithRoboClawaddresssetto128:

Serout P15, i19200, [128, 3, 82, (213 & 0X7F)]

4 - Drive Forward M2Drivemotor2forward.Validdatarangeis0-127.Avalueof127fullspeedforward,64=abouthalfspeedforwardand0=fullstop.ExamplewithRoboClawaddresssetto128:




33

5 - Drive Backwards M2Drivemotor2backwards.Validdatarangeis0-127.Avalueof127fullspeedbackwards,64=abouthalfspeedbackwardand0=fullstop.ExamplewithRoboClawaddresssetto128:


6 - Drive M1 (7 Bit)Drivemotor1forwardandreverse.Validdatarangeis0-127.Avalueof0=fullspeedreverse,64=stopand127=fullspeedforward.ExamplewithRoboClawaddresssetto128:

Serout P15, i19200, [128, 6, 96, (230 & 0X7F)] ;M1 half speed forward

7 - Drive M2 (7 Bit)Drivemotor2forwardandreverse.Validdatarangeis0-127.Avalueof0=fullspeedreverse,64=stopand127=fullspeedforward.ExamplewithRoboClawaddresssetto128:

Serout P15, i19200, [128, 7, 32, (167 & 0X7F)] ;M2 half speed reverse



34

Commands 8 - 13 Mix Mode CommandsThefollowingcommandsaremixmodecommandsandusedtocontrolspeedandturn.Beforeacommandisexecutedvaliddriveandturndataisrequired.Youonlyneedtosendbothdatapacketsonce.AfterreceivingbothvaliddriveandturndataRoboClawwillbegintooperate.Atthispointyouonlyneedtoupdateturnordrivedata.

8 - Drive ForwardDriveforwardinmixmode.Validdatarangeis0-127.Avalueof0=fullstopand127=fullforward.ExamplewithRoboClawaddresssetto128:

Serout P15, i19200, [128, 8, 127, (263 & 0x7F)] ;full speed forward

9 - Drive BackwardsDrivebackwardsinmixmode.Validdatarangeis0-127.Avalueof0=fullstopand127=fullreverse.ExamplewithRoboClawaddresssetto128:

Serout P15, i19200, [128, 9, 127, (264 & 0x7F)] ;full speed reverse

10 - Turn rightTurnrightinmixmode.Validdatarangeis0-127.Avalueof0=stopturnand127=fullspeedturn.ExamplewithRoboClawaddresssetto128:

Serout P15, i19200, [128, 10, 127, (265 & 0x7F1)] ;full speed right turn

11 - Turn leftTurnleftinmixmode.Validdatarangeis0-127.Avalueof0=stopturnand127=fullspeedturn.ExamplewithRoboClawaddresssetto128:

Serout P15, i19200, [128, 11, 127, (266 & 0x7F)] ;full speed left turn

12 - Drive Forward or Backward (7 Bit)Driveforwardorbackwards.Validdatarangeis0-127.Avalueof0=fullbackward,64=stopand127=fullforward.ExamplewithRoboClawaddresssetto128:

Serout P15, i19200, [128, 12, 96, (236 & 0x7F)] ;medium speed forward

13 - Turn Left or Right (7 Bit)Turnleftorright.Validdatarangeis0-127.Avalueof0=fullleft,0=stopturnand127=fullright.ExamplewithRoboClawaddresssetto128:

Serout P15, i19200, [128, 13, 0, (141 & 0x7F)] ;full speed turn left



35

R7

R5

SW1

S1S2S3+5V

R26

R24R25R4

U4

C3

LB+

Sta

tus2

Sta

tus1

2 | 1

- + B A

VD

3

Reset

Power Sel

0503

1

Err

orR

3

LB

C4


C5 O

NC

TS

12

34

56

78

910

Y1

ON

CTS

12

34

56

78

910

Packet Serial WiringInpacketmodetheRoboClawcantransmitandreceiveserialdata.SinceRoboClawistransmittingdataitisagoodideatouseaprocessorwithahardwareserialportliketheBasicATOMPro.


Power Switch

12VDC Battery

BatterySOUTSINATNVSSP0P1P2P3P4P5P6P7P16P17

VINVSSRESVCCP15P14P13P12P11P10P9P8P19P18



36

Packet Serial ExampleThefollowingexamplewillstartbothchannelsindependently.Thenstartturnsusingmixmodecommandthathandlesbothchannelsfromonecommand.TheprogramwaswrittenandtestedwithaBasicATOMProandP15connectedtoS1.SetswitchSW3andSW5toON.

;Basic Micro Robo Claw Packet Serial Test Commands 0 to 13. ;Switch settings: SW3=ON and SW5=ON.

Main Pause 2000 Serout P15, i19200, [128, 0, 127, (255 & 0x7F)];M1 full speed forward Serout P15, i19200, [128, 4, 127, (259 & 0x7F)];M2 full speed forward Pause 1000 Serout P15, i19200, [128, 0, 0, (128 & 0x7F)];M1 stop Serout P15, i19200, [128, 4, 0, (132 & 0x7F)];M2 stop Pause 1000 Serout P15, i19200, [128, 1, 127, (256 & 0x7F)];M1 full speed backwards Serout P15, i19200, [128, 5, 127, (260 & 0x7F)];M1 full speed backwards Pause 1000 Serout P15, i19200, [128, 0, 0, (128 & 0x7F)];M1 stop Serout P15, i19200, [128, 4, 0, (132 & 0x7F)];M2 stop Pause 1000 Serout P15, i19200, [128, 10, 127, (265 & 0x7F)];Mix mode right full speed Pause 1000 Serout P15, i19200, [128, 10, 0, (138 & 0x7F)];Mix mode stop Pause 1000 Serout P15, i19200, [128, 11, 127, (266 & 0x7F)];Mix mode left full speed Pause 1000 Serout P15, i19200, [128, 11, 0, (139 & 0x7F)];Mix mode stopGoto Main



37

BatteryandVersionInformation



38

21 - Read Firmware VersionReadRoboClawfirmwareversion.Returnsupto32bytesandisterminatedbyanullcharacter.Commandsyntax:

Sent: [Address, CMD] Received: [“RoboClaw 10.2A v1.3.9, CRC]

Thecommandwillreturnupto32bytes.Thereturnstringincludestheproductnameandfirmwareversion.Thereturnstringisterminatedwithanull(0)character.ThisisdonesotheversioninformationcanbereadfromastandardPCterminalwindow.

hserout[128,21];readfirmwareversion hserin [Str VersionByte\32\0, CRC]

24 - Read Main Battery Voltage LevelReadthemainbatteryvoltagelevelconnectedtoB+andB-terminals.Thevoltageisreturnedin10thsofavolt.Commandsyntax:

Sent: [Address, CMD] Received: [Value.Byte1, Value.Byte0, CRC]

Thecommandwillreturn3bytes.Byte1and2makeupawordvariablewhichisreceivedMSBfirstandis10thofavolt.Areturnedvalueof300wouldequal30V.Byte3istheCRC.Itiscalculatedthesamewayassendingacommandandcanbeusedtovalidatethedata.ThefollowingexamplewillreadthemainbatteryvoltagewithRoboClawaddresssetto128.

hserout [128, 24] ;read main battery voltage hserin [Value.Byte1, Value.Byte0, CRC]

25 - Read Logic Battery Voltage LevelReadalogicbatteryvoltagelevelconnectedtoLB+andLB-terminals.Thevoltageisreturnedin10thsofavolt.Commandsyntax:

Sent: [Address, CMD] Received: [Value.Byte1, Value.Byte0, CRC]

Thecommandwillreturn3bytes.Byte1and2makeupawordvariablewhichisreceivedMSBfirstandis10thofavolt.Areturnedvalueof50wouldequal5V.Byte3istheCRC.Itiscalculatedthesamewayassendingacommandandcanbeusedtovalidatethedata.ThefollowingexamplewillreadthemainbatteryvoltagewithRoboClawaddresssetto128.

hserout [128, 25] ;read logic battery voltage hserin [Value.Byte1, Value.Byte0, CRC]



39

26 - Set Minimum Logic Voltage LevelSetslogicinput(LB-/LB+)minimumvoltagelevel.IfthebatteryvoltagesdropsbelowthesetvoltagelevelRoboClawwillshutdown.Thevalueisclearedatstartupandmustsetaftereachpowerup.Thevoltageissetin.2voltincrements.Avalueof0setstheminimumvalueallowedwhichis3V.Thevaliddatarangeis0-120(6V-28V).Theformulaforcalculatingthevoltageis:(DesiredVolts-6)x5=Value.Examplesofvalidvaluesare3V=0,8V=10and11V=25.RoboClawexamplewithaddresssetto128:

hserout [128, 26, 0, (154 & 0X7F)]

27 - Set Maximum Logic Voltage LevelSetslogicinput(LB-/LB+)maximumvoltagelevel.Thevaliddatarangeis0-144(0V-28V).BysettingthemaximumvoltagelevelRoboClawwillgointoshutdownandrequiresahardresettorecovers.Theformulaforcalculatingthevoltageis:DesiredVoltsx5.12=Value.Examplesofvalidvaluesare12V=62,16V=82and24V=123.RoboClawexamplewithaddresssetto128:

hserout [128, 27, 82, (213 & 0X7F)]

Main Battery Voltage LevelsThemainbatterylevelsaresetinasimilarwayasthelogicbattery.Seecommand2and3fordetails.



40

QuadratureDecoding



41

Quadrature DecodingHandlingthequadratureencodersisdoneusingpacketserial.Alltheswitchsettingsstillapplyintoenablingpacketserialandsettingthedesiredbaudrates.SeeMode-PacketSerial.ThefollowingcommandsdealspecificallywiththedualquadraturedecodersbuiltintoRoboClaw.

CRC Checksum CalculationAllpacketserialcommandsusea7bitCRCchecksumtopreventcorruptcommandsfrombeingexecuted.SincetheRoboClawexpectsa7bitvaluethe8thbitismasked.ThebasicCRCchecksumiscalculatedasfollows:

Address+Command+Data=Checksum

Tomaskthe8thbityouusecanasimplemathexpressioncalledANDasshownbelow:

Serout P15, i19200, [128, 0, 127, (255 & 0X7F)]

Thehexadecimalvalue0X7Fisusedtomaskthe8thbit.Youcanalsouseabinaryvalueof01111111asshownbelow:

Serout P15, i19200, [128, 0, 127, (255 & %01111111)]



42

R7R

5

SW

1

S1

S2

S3

R26

R24

R25

U4

C3

LB+Status2

2 | 1-+BA

VD3 Reset

Pow

er S

el

0503

1

Error R3

LB

C4

M1A

M1B

B+

B-

M2B

M2A

Basicm

icro.com (c) 2009

C5ON CTS

1 2 3 4 5 6 7 8 9 10

Y1 ON CTS

1 2 3 4 5 6 7 8 9 10

Quadrature Encoder WiringRoboClawcanreadtwoquadratureencoders.TheencodersareconnectedtoRoboClawusingCN4.BothGNDand5voltsarepresentontheheadertopowertheencoders.

Inatwomotorrobotconfigurationonemotorwillspinclockwise(CW)whiletheothermotorwillspincounterclockwise(CCW).TheAandBinputsforoneofthetwoencodersmustbereversedasshown.Ifeitherencoderisconnectedwrongonewillcountupandtheotherdownthiswillcausecommandslikemixdriveforwardtonotworkproperly.

+ 1A 2G 3B 4

1 +2 A3 G4 B



43

Commands 16 - 20 Reading Quadrature EncodersThefollowingcommandsareusedindealingwiththequadraturedecodingcounterregisters.Thequadraturedecoderisasimplecounterthatcountstheincomingpulses,tracksthedirectionandspeedofeachpulse.TherearetworegistersoneeachforM1andM2.(Note:AmicrocontrollerwithahardwareUARTisrecommendedforusewithpacketserialmodes).

Command Description16 ReadQuadratureEncoderRegisterforM1.17 ReadQuadratureEncoderRegisterforM2.18 ReadM1SpeedinPulsesPerSecond.19 ReadM2SpeedinPulsesPerSecond.20 ResetsQuadratureEncoderRegistersforM1andM2.

16 - Read Quadrature Encoder Register M1ReaddecoderM1counter.SinceCMD16isareadcommanditdoesnotrequireaCRC.HoweveraCRCvaluewillbereturnedfromRoboClawandcanbeusedtovalidatethedata.Commandsyntax:

Sent: [Address, CMD] Received: [Value1.Byte3, Value1.Byte2, Value1.Byte1, Value1.Byte0, Value2, CRC]

Thecommandwillreturn6bytes.Byte1,2,3and4makeupalongvariablewhichisreceivedMSBfirstandrepresentsthecurrentcountwhichcanbeanyvaluefrom0-4,294,967,295.Eachpulsefromthequadratureencoderwillincrementordecrementthecounterdependingonthedirectionofrotation.

Byte5isthestatusbyteforM1decoder.Ittrackscounterunderflow,direction,overflowandiftheencoderisoperational.Thebytevaluerepresents:

Bit0-CounterUnderflow (1=UnderflowOccurred,ClearAfterReading) Bit1-Direction (0=Forward,1=Backwards) Bit2-CounterOverflow (1=UnderflowOccurred,ClearAfterReading) Bit3-Reserved Bit4-Reserved Bit5-Reserved Bit6-Reserved Bit7-EncoderOK (1=OK,0=FAIL)

Byte6istheCRCchecksum.Itiscalculatedthesamewayassendingacommand.Itcanbeusedtovalidatetheresultingdata.ThefollowingexamplewillreadM1counterregister,statusbyteandCRCvaluewithRoboClawaddresssetto128.

hserout [128, 16] ;read command for M1 encoder hserin [Value1.Byte3, Value1.Byte2, Value1.Byte1, Value1.Byte0, Value2, CRC]



44

17 - Read Quadrature Encoder Register M2ReaddecoderM2counter.SinceCMD16isareadcommanditdoesnotrequireaCRC.HoweveraCRCvaluewillbereturnedfromRoboClawandcanbeusedtovalidatethedata.Commandsyntax:


Thecommandwillreturn6bytes.Byte1,2,3and4makeupalongvariablewhichisreceivedMSBfirstandrepresentsthecurrentcountwhichcanbeanyvaluefrom0-4,294,967,295.Eachpulsefromthequadratureencoderwillincrementordecrementthecounterdependingonthedirectionofrotation.

Byte5isthestatusbyteforM1decoder.Ittrackscounterunderflow,direction,overflowandiftheencoderisoperational.Thebytevaluerepresents:

Bit0-CounterUnderflow(1=UnderflowOccurred,ClearAfterReading) Bit1-Direction(0=Forward,1=Backwards) Bit2-CounterOverflow(1=UnderflowOccurred,ClearAfterReading) Bit3-Reserved Bit4-Reserved Bit5-Reserved Bit6-Reserved Bit7-EncoderOK(1=OK,0=FAIL)

Byte6istheCRCchecksum.Itiscalculatedthesamewayassendingacommand.Itcanbeusedtovalidatetheresultingdata.ThefollowingexamplewillreadM1counterregister,statusbyteandCRCvaluewithRoboClawaddresssetto128.


18 - Read Speed M1ReadM1counterspeed.Returnedvalueisinpulsespersecond.RoboClawkeepstrackofhowmanypulsesreceivedpersecondforbothdecoderchannels.SinceCMD18isareadcommanditdoesnotrequireaCRCtobesent.HoweveraCRCvaluewillbereturnedfromRoboClawandcanbeusedtovalidatethedata.Commandsyntax:


Thecommandwillreturn6bytes.Byte1,2,3and4makeupalongvariablewhichisreceivedMSBfirstandisthecurrenttickspersecondwhichcanbeanyvaluefrom0-4,294,967,295.Byte5isthedirection(0–forward,1-backward).Byte6istheCRC.Itiscalculatedthesamewayassendingacommandandcanbeusedtovalidatethedata.ThefollowingexamplewillreadM1pulsepersecondanddirectionwithRoboClawaddresssetto128.




45

19 - Read Speed M2ReadM2counterspeed.Returnedvalueisinpulsespersecond.RoboClawkeepstrackofhowmanypulsesreceivedpersecondforbothdecoderchannels.SinceCMD19isareadcommanditdoesnotrequireaCRCtobesent.HoweveraCRCvaluewillbereturnedfromRoboClawandcanbeusedtovalidatethedata.Commandsyntax:


Thecommandwillreturn6bytes.Byte1,2,3and4makeupalongvariablewhichisreceivedMSBfirstandisthecurrenttickspersecondwhichcanbeanyvaluefrom0-4,294,967,295.Byte5isthedirection(0–forward,1-backward).Byte6istheCRC.Itiscalculatedthesamewayassendingacommandandcanbeusedtovalidatethedata.ThefollowingexamplewillreadM2pulsepersecondanddirectionwithRoboClawaddresssetto128.


20 - Reset Quadrature Encoder CountersWillresetbothquadraturedecodercounterstozero.SinceCMD20isawritecommandaCRCvalueisrequired.Commandsyntaxandexample:

hserout [128, 20, (148 & %01111111)]; resets encoder registers



46

Commands 28 - 48 Motor Control by Quadrature EncodersThefollowingcommandsareusedtocontrolmotorspeeds,accelerationanddistanceusingthequadratureencoders.Allspeedsaregiveninquadpulsespersecond(QPPS)unlessotherwisestated.Quadratureencodersofdifferenttypesandmanufacturescanbeused.Howevermanyhavedifferentresolutionsandmaximumspeedsatwhichtheyoperate.Soeachquadratureencoderwillproduceadifferentrangeofpulsespersecond.

Command Description28 SetPIDConstantsforM1.29 SetPIDConstantsforM2.30 ReadCurrentM1SpeedResolution125thofaSecond.31 ReadCurrentM2SpeedResolution125thofaSecond.32 DriveM1WithSignedDutyCycle.33 DriveM2WithSignedDutyCycle.34 MixModeDriveM1/M2WithSignedDutyCycle.35 DriveM1WithSignedSpeed.36 DriveM2WithSignedSpeed.37 MixModeDriveM1/M2WithSignedSpeed.38 DriveM1WithSignedSpeedAndAcceleration.39 DriveM2WithSignedSpeedAndAcceleration.40 MixModeDriveM1/M2WithSpeedAndAcceleration.41 DriveM1WithSignedSpeedAndDistance.Buffered.42 DriveM2WithSignedSpeedAndDistance.Buffered.43 MixModeDriveM1/M2WithSpeedAndDistance.Buffered.44 DriveM1WithSignedSpeed,AccelerationandDistance.Buffered.45 DriveM2WithSignedSpeed,AccelerationandDistance.Buffered.46 MixModeDriveM1/M2WithSpeed,AccelerationAndDistance.Buffered.47 ReadBufferLength.48 SetPWMResolution.



47

28 - Set PID Constants M1SeveralmotorandquadraturecombinationscanbeusedwithRoboClaw.InsomecasesthedefaultPIDvalueswillneedtobetunedforthesystemsbeingdriven.Thisgivesgreaterflexibilityinwhatmotorandencodercombinationscanbeused.TheRoboClawPIDsystemconsistoffourconstantsstartingwithQPPS,P=Proportional,I=IntegralandD=Derivative.Thedefaultsvaluesare:

QPPS = 44000 P = 0x00000200 I = 0x00000100 D = 0x00000080

QPPSisthespeedoftheencoderwhenthemotorisat100%power.P,I,Darethedefaultvaluesusedafterareset.Commandsyntax:

Sent: [Address, CMD, D(4 bytes), P(4 bytes), I(4 bytes), QPPS(4 byte), CRC]

Eachvalueismadeupof4bytesforalong.TowritetheregistersaCRCvalueisused.Thispreventsanaccidentalwrite.

29 - Set PID Constants M2SeveralmotorandquadraturecombinationscanbeusedwithRoboClaw.InsomecasesthedefaultPIDvalueswillneedtobetunedforthesystemsbeingdriven.Thisgivesgreaterflexibilityinwhatmotorandencodercombinationscanbeused.TheRoboClawPIDsystemconsistoffourconstantsstartingwithQPPS,P=Proportional,I=IntegralandD=Derivative.Thedefaultsvaluesare:

QPPS = 44000 P = 0x00000200 I = 0x00000100 D = 0x00000080

QPPSisthespeedoftheencoderwhenthemotorisat100%power.P,I,Darethedefaultvaluesusedafterareset.Commandsyntax:

Sent: [Address, CMD, D(4 bytes), P(4 bytes), I(4 bytes), QPPS(4 byte), CRC]

Eachvalueismadeupof4bytesforalong.TowritetheregistersaCRCvalueisused.Thispreventsanaccidentalwrite.



48

30 - Read Current Speed M1Readthecurrentpulseper125thofasecond.Thisisahighresolutionversionofcommand18and19.Command30canbeusedtomakeaindependentPIDroutine.TheresolutionofthecommandisrequiredtocreateaPIDroutineusinganymicrocontrollerorPCusedtodriveRoboClaw.Thecommandsyntax:

Sent: [Address, CMD]Received: [Speed(4 bytes), CRC]

Thecommandwillreturn4bytes,MSBsentfirstforalong.ACRCisreturnedinordertovalidatethedatareturned.

31 - Read Current Speed M2Readthecurrentpulseper125thofasecond.Thisisahighresolutionversionofcommand18and19.Command31canbeusedtomakeaindependentPIDroutine.TheresolutionofthecommandisrequiredtocreateaPIDroutineusinganymicrocontrollerorPCusedtodriveRoboClaw.Thecommandsyntax:

Sent: [Address, CMD]Received: [Speed(4 bytes), CRC]

Thecommandwillreturn4bytes,MSBsentfirstforalong.ACRCisreturnedinordertovalidatethedatareturned.

32 - Drive M1 With Signed Duty CycleDriveM1usingadutycyclevalue.ThedefaultPWMis8bitresolution.ThedefaultvaluecanbechangedseeCMD48.Thedutycycleisusedtocontrolthespeedofthemotorwithoutaquadratureencoder.Avalueusedtodriveonemotorat50%willbedifferfromonemotortothenext.Thecommandsyntax:

Sent: [Address, CMD, Duty(2 Bytes), CRC]

Thedutyvalueissignedandthedefaultrangeis8bits.ThedefaultPWMresolutioncanbechangedformorerange.Tochangetheresolutionseecommand48.

33 - Drive M2 With Signed Duty CycleDriveM2usingadutycyclevalue.ThedefaultPWMis8bitresolution.ThedefaultvaluecanbechangedseeCMD48.Thedutycycleisusedtocontrolthespeedofthemotorwithoutaquadratureencoder.Avalueusedtodriveonemotorat50%willbedifferfromonemotortothenext.Thecommandsyntax:

Sent: [Address, CMD, Duty(2 Bytes), CRC]




49

34 - Mix Mode Drive M1 / M2 With Signed Duty CycleDrivebothM1andM2usingadutycyclevalue.ThedefaultPWMis8bitresolution.ThedefaultvaluecanbechangedseeCMD48.Thedutycycleisusedtocontrolthespeedofthemotorwithoutaquadratureencoder.Avalueusedtodriveonemotorat50%willbedifferfromonemotortothenext.Thecommandsyntax:

Sent: [Address, CMD, DutyM1(2 Bytes), DutyM2(2 Bytes), CRC]


35 - Drive M1 With Signed SpeedDriveM1usingaspeedvalue.Thesignindicateswhichdirectionthemotorwillturn.Thiscommandisusedtodrivethemotorbyquadpulsespersecond.Differentquadratureencoderswillhavedifferentratesatwhichtheygeneratetheincomingpulses.Thevaluesusedwilldifferfromoneencodertoanother.Onceavalueissentthemotorwillbegintoaccelerateasfastaspossibleuntilthedefinedrateisreached.Thecommandsyntax:

Sent: [Address, CMD, Qspeed(4 Bytes), CRC]

4Bytes(long)areusedtoexpressthepulsespersecond.Quadratureencoderssend4pulsespertick.So1000tickswouldbecountedas4000pulses.

36 - Drive M2 With Signed SpeedDriveM2withaspeedvalue.Thesignindicateswhichdirectionthemotorwillturn.Thiscommandisusedtodrivethemotorbyquadpulsespersecond.Differentquadratureencoderswillhavedifferentratesatwhichtheygeneratetheincomingpulses.Thevaluesusedwilldifferfromoneencodertoanother.Onceavalueissent,themotorwillbegintoaccelerateasfastaspossibleuntiltheratedefinedisreached.Thecommandsyntax:

Sent: [Address, CMD, Qspeed(4 Bytes), CRC]

4Bytes(long)areusedtoexpressedthepulsespersecond.Quadratureencoderssend4pulsespertick.So1000tickswouldbecountedas4000pulses.



50

37 - Mix Mode Drive M1 / M2 With Signed SpeedDriveM1andM2inthesamecommandusingasignedspeedvalue.Thesignindicateswhichdirectionthemotorwillturn.Thiscommandisusedtodrivebothmotorsbyquadpulsespersecond.Differentquadratureencoderswillhavedifferentratesatwhichtheygeneratetheincomingpulses.Thevaluesusedwilldifferfromoneencodertoanother.Onceavalueissentthemotorwillbegintoaccelerateasfastaspossibleuntiltheratedefinedisreached.Thecommandsyntax:

Sent: [Address, CMD, QspeedM1(4 Bytes), QspeedM2(4 Bytes), CRC]

4Bytes(long)areusedtoexpressthepulsespersecond.Quadratureencoderssend4pulsespertick.So1000tickswouldbecountedas4000pulses.

38 - Drive M1 With Signed Speed And AccelerationDriveM1withasignedspeedandaccelerationvalue.Thesignindicateswhichdirectionthemotorwillrun.Theaccelerationvaluesarenotsigned.Thiscommandisusedtodrivethemotorbyquadpulsespersecondandusinganaccelerationvalueforramping.Differentquadratureencoderswillhavedifferentratesatwhichtheygeneratetheincomingpulses.Thevaluesusedwilldifferfromoneencodertoanother.Onceavalueissentthemotorwillbegintoaccelerateincrementallyuntiltheratedefinedisreached.Thecommandsyntax:

Sent: [Address, CMD, Accel(4 Bytes), Qspeed(4 Bytes), CRC]

4Bytes(long)areusedtoexpressthepulsespersecond.Quadratureencoderssend4pulsespertick.So1000tickswouldbecountedas4000pulses.Theaccelerationismeasuredinspeedpersecond.Anaccelerationvalueof12,000QPPSwithaspeedof12,000QPPSwouldaccelerateamotorfrom0to12,000QPPSin1second.Anotherexamplewouldbeanaccelerationvalueof24,000QPPSandaspeedvalueof12,000QPPSwouldacceleratethemotorto12,000QPPSin0.5seconds.

39 - Drive M2 With Signed Speed And AccelerationDriveM2withasignedspeedandaccelerationvalue.Thesignindicateswhichdirectionthemotorwillrun.Theaccelerationvalueisnotsigned.Thiscommandisusedtodrivethemotorbyquadpulsespersecondandusinganaccelerationvalueforramping.Differentquadratureencoderswillhavedifferentratesatwhichtheygeneratetheincomingpulses.Thevaluesusedwilldifferfromoneencodertoanother.Onceavalueissentthemotorwillbegintoaccelerateincrementallyuntiltheratedefinedisreached.Thecommandsyntax:

Sent: [Address, CMD, Accel(4 Bytes), Qspeed(4 Bytes), CRC]




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40 - Mix Mode Drive M1 / M2 With Speed And AccelerationDriveM1andM2inthesamecommandusingonevalueforaccelerationandtwosignedspeedvaluesforeachmotor.Thesignindicateswhichdirectionthemotorwillrun.Theaccelerationvalueisnotsigned.Themotorsaresyncduringacceleration.Thiscommandisusedtodrivethemotorbyquadpulsespersecondandusinganaccelerationvalueforramping.Differentquadratureencoderswillhavedifferentratesatwhichtheygeneratetheincomingpulses.Thevaluesusedwilldifferfromoneencodertoanother.Onceavalueissentthemotorwillbegintoaccelerateincrementallyuntiltheratedefinedisreached.Thecommandsyntax:

Sent: [Address, CMD, Accel(4 Bytes), QspeedM1(4 Bytes), QspeedM2(4 Bytes), CRC]


41 - Buffered M1 Drive With Signed Speed And DistanceDriveM1withasignedspeedanddistancevalue.Thesignindicateswhichdirectionthemotorwillrun.Thedistancevalueisnotsigned.Thiscommandisbuffered.Thiscommandisusedtocontrolthetopspeedandtotaldistancetraveledbythemotor.EachmotorchannelM1andM2haveseparatebuffers.Thiscommandwillexecuteimmediatelyifnoothercommandforthatchannelisexecuting,otherwisethecommandwillbebufferedintheorderitwassent.AnybufferedorexecutingcommandcanbestoppedwhenanewcommandisissuedbysettingtheBufferargument.Allvaluesusedareinquadpulsespersecond.Thecommandsyntax:

Sent: [Address, CMD, QSpeed(4 Bytes), Distance(4 Bytes), Buffer(1 Byte), CRC]

4Bytes(long)areusedtoexpressthepulsespersecond.TheBufferargumentcanbesettoa1or0.Ifavalueof0isusedthecommandwillbebufferedandexecutedintheordersent.Ifavalueof1isusedthecurrentrunningcommandisstopped,anyothercommandsinthebufferaredeletedandthenewcommandisexecuted.

42 - Buffered M2 Drive With Signed Speed And DistanceDriveM2withaspeedanddistancevalue.Thesignindicateswhichdirectionthemotorwillrun.Thedistancevalueisnotsigned.Thiscommandisbuffered.EachmotorchannelM1andM2haveseparatebuffers.Thiscommandwillexecuteimmediatelyifnoothercommandforthatchannelisexecuting,otherwisethecommandwillbebufferedintheorderitwassent.AnybufferedorexecutingcommandcanbestoppedwhenanewcommandisissuedbysettingtheBufferargument.Allvaluesusedareinquadpulsespersecond.Thecommandsyntax:

Sent: [Address, CMD, QSpeed(4 Bytes), Distance(4 Bytes), Buffer(1 Byte), CRC]




52

43 - Buffered Mix Mode Drive M1 / M2 With Signed Speed And DistanceDriveM1andM2withaspeedanddistancevalue.Thesignindicateswhichdirectionthemotorwillrun.Thedistancevalueisnotsigned.Thiscommandisbuffered.EachmotorchannelM1andM2haveseparatebuffers.Thiscommandwillexecuteimmediatelyifnoothercommandforthatchannelisexecuting,otherwisethecommandwillbebufferedintheorderitwassent.AnybufferedorexecutingcommandcanbestoppedwhenanewcommandisissuedbysettingtheBufferargument.Allvaluesusedareinquadpulsespersecond.Thecommandsyntax:

Sent: [Address, CMD, QSpeedM1(4 Bytes), DistanceM1(4 Bytes), QSpeedM2(4 Bytes), DistanceM2(4 Bytes), Buffer(1 Byte), CRC]


44 - Buffered M1 Drive With Signed Speed, Accel And DistanceDriveM1withaspeed,accelerationanddistancevalue.Thesignindicateswhichdirectionthemotorwillrun.Theaccelerationanddistancevaluesarenotsigned.Thiscommandisusedtocontrolthemotorstopspeed,totaldistancedtraveledandatwhatincrementalaccelerationvaluetouseuntilthetopspeedisreached.EachmotorchannelM1andM2haveseparatebuffers.Thiscommandwillexecuteimmediatelyifnoothercommandforthatchannelisexecuting,otherwisethecommandwillbebufferedintheorderitwassent.AnybufferedorexecutingcommandcanbestoppedwhenanewcommandisissuedbysettingtheBufferargument.Allvaluesusedareinquadpulsespersecond.Thecommandsyntax:

Sent: [Address, CMD, Accel(4 bytes), QSpeed(4 Bytes), Distance(4 Bytes), Buffer(1 Byte), CRC]


45 - Buffered M2 Drive With Signed Speed, Accel And DistanceDriveM2withaspeed,accelerationanddistancevalue.Thesignindicateswhichdirectionthemotorwillrun.Theaccelerationanddistancevaluesarenotsigned.Thiscommandisusedtocontrolthemotorstopspeed,totaldistancedtraveledandatwhatincrementalaccelerationvaluetouseuntilthetopspeedisreached.EachmotorchannelM1andM2haveseparatebuffers.Thiscommandwillexecuteimmediatelyifnoothercommandforthatchannelisexecuting,otherwisethecommandwillbebufferedintheorderitwassent.AnybufferedorexecutingcommandcanbestoppedwhenanewcommandisissuedbysettingtheBufferargument.Allvaluesusedareinquadpulsespersecond.Thecommandsyntax:

Sent: [Address, CMD, Accel(4 bytes), QSpeed(4 Bytes), Distance(4 Bytes), Buffer(1 Byte), CRC]




53

46 - Buffered Mix Mode Drive M1 / M2 With Signed Speed, Accel And DistanceDriveM1andM2withaspeed,accelerationanddistancevalue.Thesignindicateswhichdirectionthemotorwillrun.Theaccelerationanddistancevaluesarenotsigned.Thiscommandisusedtocontrolbothmotorstopspeed,totaldistancedtraveledandatwhatincrementalaccelerationvaluetouseuntilthetopspeedisreached.EachmotorchannelM1andM2haveseparatebuffers.Thiscommandwillexecuteimmediatelyifnoothercommandforthatchannelisexecuting,otherwisethecommandwillbebufferedintheorderitwassent.AnybufferedorexecutingcommandcanbestoppedwhenanewcommandisissuedbysettingtheBufferargument.Allvaluesusedareinquadpulsespersecond.Thecommandsyntax:

Sent: [Address, CMD, Accel(4 Bytes), QSpeedM1(4 Bytes), DistanceM1(4 Bytes), QSpeedM2(4 bytes), DistanceM2(4 Bytes), Buffer(1 Byte), CRC]


47 - Read Buffer LengthReadbothmotorM1andM2bufferlengths.Thiscommandcanbeusedtodeterminehowmanycommandsarewaitingtoexecute.

Sent: [Address, CMD]Received: [BufferM1(1 Bytes), BufferM2(1 Bytes), CRC]

Thereturnvaluesrepresenthowmanycommandsperbufferarewaitingtobeexecuted.Themaximumbuffersizepermotoris24commands.



54

48 - Set PWM ResolutionThiscommandisusedtoadjusttheresolutionofthePWM.DifferentmotorswillproducedifferentresultswhenusedwithvariousPWMresolutions.Onoccasionamotormayemitanoise,thePWMresolutioncanbechangedtocompensationforthenoise.QPPSandPIDconstantsareresettodefaultswhenthiscommandisexecuted.InmostcasescorrectPIDconstantsforhigherresolutionPWMshouldbedoublethepreviousresolutionsvalues.Forexampleat8bitresolutionP=0x00000200andat9bitresolutionP=0x00000400.

Sent: [Address, CMD, Resolution(1 Byte), CRC]

Theresolutionis1bytewideandrangesfrom0to6.Seethetablebelowforeachresolutionanditscorrespondingvalue.

Value Resolution Description0 8Bit +-1271 9Bit +-2552 10Bit +-5113 11Bit +-10234 12Bit +-20475 13Bit +-40956 14Bit +-8191



55

Reading Quadrature Encoder ExampleThefollowingexamplewaswrittenusinganBasicATOMPro.RoboClawwasconnectedasshowninbothpacketserialwiringandquadratureencoderwiringdiagrams.

Theexamplewillreadthespeed,totalticksanddirectionofeachencoder.ConnecttotheprogramusingtheBasicMicroStudioterminalwindowsetto38400baud.Theprogramwilldisplaythevaluesofeachencoderscurrentcountalongwitheachencoderstatusbitinbinaryandthedirectionbit.Astheencoderisturneditwillupdatethescreen.

Encoder1 Var LongEncoder2 Var LongStatus Var ByteCRC Var Byte

ENABLEHSERIAL ;used on AtomPro24 and AtomPro28. AtomPro40 and ARC-32 use EnableHSerial2

SetHSerial H38400,H8DATABITS,HNOPARITY,H1STOPBITS

Pause 250

Hserout [128, 20, (148 & 0x7F)]; Resets encoder registers

Main Pause 100

ReadEncoderM1 Hserout [128, 16] Hserin [Encoder1.byte3, Encoder1.Byte2, Encoder1.Byte1, Encoder1.Byte0, Status, crc] Serout s_out, i38400, [0,”Encoder1: “, SDEC Encoder1, 13, “Status Byte: “, BIN Status]

ReadSpeedM1 Hserout [128, 18] Hserin [Encoder1.byte3, Encoder1.Byte2, Encoder1.Byte1, Encoder1.Byte0, Status, crc] Serout s_out, i38400, [13, 13, “Speed: “, DEC Encoder1, 13, “Direction: “, DEC Status]

ReadEncoderM2 Hserout [128, 17] Hserin [Encoder2.byte3, Encoder2.Byte2, Encoder2.Byte1, Encoder2.Byte0, Status, crc] Serout s_out, i38400, [13, 13, “Encoder2: “, SDEC Encoder2, 13, “Status Byte: “, BIN Status]

ReadSpeedM2 Hserout [128, 19] Hserin [Encoder2.byte3, Encoder2.Byte2, Encoder2.Byte1, Encoder2.Byte0, Status, crc] Serout s_out, i38400, [13, 13, “Speed: “, DEC Encoder2, 13, “Direction: “, DEC Status]

Goto Main



56

Speed Controlled by Quadrature Encoders ExampleThefollowingexamplewaswrittenusinganBasicATOMPro.RoboClawwasconnectedasshowninbothpacketserialwiringandquadratureencoderwiringdiagrams.

Theexamplewillcommanda4wheelrobottomoveforward,backward,rightturnandleftturnslowly.YoucanchangethespeedbyadjustingthevalueofSpeedandSpeed2variables.

CMD var byteSpeed var longSpeed2 var longCRC var byteAddress con 128

ENABLEHSERIAL ;used on AtomPro24 and AtomPro28. AtomPro40 and ARC-32 use EnableHSerial2SetHSerial H38400,H8DATABITS,HNOPARITY,H1STOPBITS

Mixed_Forward CMD=37 Speed=12000 Speed2=12000 CRC = (address + cmd + speed.byte3 + speed.byte2 + speed.byte1 + speed.byte0 + | speed2.byte3 + speed2.byte2 + speed2.byte1 + speed2.byte0)&0x7F hserout [address,cmd,speed.byte3,speed.byte2,speed.byte1,speed.byte0, | speed2.byte3,speed2.byte2,speed2.byte1,speed2.byte0,crc] pause 4000

Mixed_Backward CMD=37 Speed=-12000 Speed2=-12000 CRC = (address + cmd + speed.byte3 + speed.byte2 + speed.byte1 + speed.byte0 + | speed2.byte3 + speed2.byte2 + speed2.byte1 + speed2.byte0)&0x7F hserout [address,cmd,speed.byte3,speed.byte2,speed.byte1,speed.byte0, | speed2.byte3,speed2.byte2,speed2.byte1,speed2.byte0,crc] pause 4000

Mixed_Left CMD=37 Speed=-12000 Speed2=12000 CRC = (address + cmd + speed.byte3 + speed.byte2 + speed.byte1 + speed.byte0 + | speed2.byte3 + speed2.byte2 + speed2.byte1 + speed2.byte0)&0x7F hserout [address,cmd,speed.byte3,speed.byte2,speed.byte1,speed.byte0, | speed2.byte3,speed2.byte2,speed2.byte1,speed2.byte0,crc] pause 4000

Mixed_Right CMD=37 Speed=12000 Speed2=-12000 CRC = (address + cmd + speed.byte3 + speed.byte2 + speed.byte1 + speed.byte0 + | speed2.byte3 + speed2.byte2 + speed2.byte1 + speed2.byte0)&0x7F hserout [address,cmd,speed.byte3,speed.byte2,speed.byte1,speed.byte0, | speed2.byte3,speed2.byte2,speed2.byte1,speed2.byte0,crc] pause 4000

Mixed_Stop CMD=37 Speed=0 Speed2=0 CRC = (address + cmd + speed.byte3 + speed.byte2 + speed.byte1 + speed.byte0 + | speed2.byte3 + speed2.byte2 + speed2.byte1 + speed2.byte0)&0x7F hserout [address,cmd,speed.byte3,speed.byte2,speed.byte1,speed.byte0, | speed2.byte3,speed2.byte2,speed2.byte1,speed2.byte0,crc]

stop



57

Electrical Characteristics

Characteristic Rating Min MaxPulsePerSecond PPS 0 150,000MainB+/B- VDC 6 30LogicLB+/LB- VDC 6 24LogicCircuitCurrentDraw mA 90MotorCurrentDrawPerChannel A 7I/OVoltages VDC 0 5I/OLogic TTLTempatureRange C -40 +125



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WarrantyBasicMicrowarrantiesitsproductsagainstdefectsinmaterialandworkmanshipforaperiodof90days.Ifadefectisdiscovered,BasicMicrowill,atourdiscretion,repair,replace,orrefundthepurchasepriceoftheproductinquestion.Contactusatsupport@basicmicro.com.Noreturnswillbeacceptedwithouttheproperauthorization.

Copyrights and TrademarksCopyright©2010byBasicMicro,Inc.Allrightsreserved.PICmicro®isatrademarkofMicrochipTechnology,Inc.TheBasicAtomandBasicMicroareregisteredtrademarksofBasicMicroInc.Othertrademarksmentionedareregisteredtrademarksoftheirrespectiveholders.

DisclaimerBasicMicrocannotbeheldresponsibleforanyincidental,orconsequentialdamagesresultingfromuseofproductsmanufacturedorsoldbyBasicMicrooritsdistributors.NoproductsfromBasicMicroshouldbeusedinanymedicaldevicesand/ormedicalsituations.Noproductshouldbeusedinalifesupportsituation.

Contacts Email:[email protected] Techsupport:[email protected] Web:http://www.basicmicro.com

Discussion ListAwebbaseddiscussionboardismaintainedathttp://www.basicmicro.com.

Technical SupportTechnicalsupportismadeavailablebysendinganemailtosupport@basicmicro.com.Allemailwillbeansweredwithin48hours.Allgeneralsyntaxandprogrammingquestions,unlessdeemedtobeasoftwareissue,willbereferredtotheon-linediscussionforums.

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