Digilent DMC60C Reference Manual

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DMC60C Reference Manual

The DMC60C is the feature-packed, CAN-enabled successor to the DMC60. It is a powerful,
compact, FIRST Robotics Competition (FRC) approved motor controller designed for use with any
12-24V brushless DC motor. The DMC60C features an open loop PWM control mode, two internal
closed loop control modes (voltage compensation, current control), two external closed loop control
modes (position, velocity), and a follower control mode. These features are made available in
competition with an easy-to-use API, complete with examples, in C/C++, Java, and LabVIEW. The
DMC60C also features a web configuration utility that can be installed on any FRC configured
roboRIO. This configuration utility enables live configuration of several DMC60C parameters
including closed loop PID constants. This makes the DMC60C an ideal component in any robotics
application.

Features

Callout Feature Description CalloutFeature Description
1 Input Ground (GND) 5 Brake/Coast CAL Button
2 Positive Input (V+) 6 Positive Output (M+)
3 Input Signal Cables (x2) 7 Output Ground (M-)
4 Status LEDs (x4)

Specifications

1Electrical

PARAMETER MIN NOMINAL MAX UNIT

Input Voltage 6 12 28 V
Continuous Current
Surge Current (2 seconds)
PWM Input Signal Pulse Width 0.6 1-2 2.4 ms
PWM Input Signal Period 2.9
PWM Input Signal Throttle Dead Band

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100

4%

60 A

100 ms

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A

PWM Input Signal Resolution

1

μs

PARAMETER MIN NOMINAL MAX UNIT
PWM Input Signal Logic High Threshold 1.0
PWM Input Signal Logic Low Threshold
PWM Output Signal Frequency

2Mechanical

The DMC60C’s aluminum case is electrically isolated and may be mounted directly to a robot using
zip-ties or #8-32 screws. The case may become hot after pro-longed use in high current
applications. For optimum performance it is recommended that the DMC60C be mounted in a
location that allows airflow over the top of the case and around both sides of the case.

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15625

0.4 V

V

Hz

Callout Feature Description

1 Zip Tie Grooves
2 Mounting Holes and #8 Bolt/Nut Pocket Clearance

Mechanical Specifications Table
PARAMETER VALUE

DMC60C Length 2.76 in (70.0 mm)

DMC60C Width 1.18 in (30.0 mm)

DMC60C Height 1.00 in (25.4 mm)

Mounting Hole Spacing 2.00 in (50.8 mm)

Functional Description

1PowerInputConnections

The DMC60C's black and red wires, labeled GND and V+ on the housing, respectively, are used to
carry input power from a chosen power source to the DMC60C. The black wire is to be connected to
the ground or negative terminal of the power source. The red wire is to be connected to the positive
terminal of the power source. When powering the DMC60C via a Power Distribution Panel (PDP),
this typically means that the DMC60C's red wire should be connected to the PDP's red terminal and
the DMC60C's black wire should be connected to the PDP's black terminal.

The DMC60C does not feature output short protection, and as such, shorting the output leads can
result in catastrophic failure. Therefore it is recommended that a 40 Amp breaker (or fuse) be placed
in line with the DMC60C's positive input lead (red wire).

The DMC60C does NOT include input reverse polarity protection. Reversing the polarity of the
inputs may result in permanent damage to the DMC60C.

2MotorOutputConnections

The DMC60C's green and white wires, labeled M- and M+ on the housing, respectively, are used to
carry a control signal from the DMC60C to a connected motor. The green wire is to be connected to
the negative lead of the motor. The white wire is to be connected to the positive lead of the motor.
The stall current associated with the motor may be very high. Therefore it is recommended that
these connections be made through crimped connectors or by soldering the leads directly together.

If the DMC60C output leads are not long enough to reach the motor then they may be extended. It is
recommended that 12 AWG (or thicker) stranded wire be used and that the wires be soldered
directly together.

3InputSignalCableConnections

The DMC60C can either be controlled by CAN signals applied on the input signal cables, or by PWM
input signals applied via one of the two input signal cables. Usage of the CAN protocol to control the
DMC60C is outside of the scope of this manual. Take a look at one of the guides on the DMC60C

Resource Center for more information on how to use the CAN protocol to control the DMC60C.

The DMC60C continually measures the positive pulse width of the PWM Input Signal applied to the
Input Signal Cable and maps it to an output voltage, or duty cycle. By default, a positive pulse width
of 1.0 milliseconds corresponds to 100% duty cycle in the reverse direction (current flow from M- to
M+), a positive pulse width of 2.0 milliseconds corresponds to 100% duty cycle in the forward
direction (current flow from M+ to M-), and a positive pulse width of 1.5 milliseconds (+/- 4%)

corresponds to neutral. When a neutral pulse width is detected, the present Brake/Coast setting is
applied to the output. The DMC60C expects the PWM Input Signal to have an input period between

2.9 and 100 milliseconds. The allows te update rate to be as high as 344 Hz or as low as 10 Hz.

The DMC60C's Input Signal Cable features a 0.1“ pitch 3-pin female header that is compatible with
most RC / PWM Servo Controllers, allowing the DMC60C to be readily wired directly to those
devices. The Input Signal Cable consists of two wires, the signal wire (yellow), and the ground wire
(green).

4MotorControllerLEDs

Figure 4.1 DMC60C LED Label Callout

The DMC60C contains four RGB (Red, Green, and Blue) LEDs and one Brake/Coast CAL LED. The
four RGB LEDs are located in the corners and are used to indicate status during normal operation,
as well as when a fault occurs. The Brake/Coast CAL LED is located in the center of the triangle,
which is located at the center of the housing, and is used to indicate the current Brake/Coast setting.
When the center LED is off, the device is operating in coast mode. When the center LED is
illuminated, the device is operating in brake mode. The Brake/Coast mode can be toggled by
pressing down on the center of the triangle, and then releasing the button.

At power-on, the RGB LEDs illuminate Blue, continually getting brighter. This lasts for approximately
five seconds. During this time, the motor controller will not respond to an input signal, nor will the
output drivers be enabled. After the initial power-on has completed, the device begins normal
operation and what gets displayed on the RGB LEDs is a function of the input signal being applied,
as well as the current fault state. Assuming that no faults have occurred, the RGB LEDs function as
follows: