RoboteQ FIM2360, FIM2360S, FIM2360T, FIM2360TS, FIM2360E Users guide
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Advanced Features
2 x 60A or 1 x 120A
Variable Frequency Drive
for AC Induction Motors
FIM2360
RoboteQ’s FIM2360 is a features-packed, high-current, dual or
single channel controller for AC Induction motors. The controller
can operate in one of several modes in order to sense the rotor
position and sequence power on the motors’ 3 windings in order
to generate smooth continuous rotation. The controller also
uses the Encoder information to compute speed and measure
travelled distance inside a 32-bit counter. The motors may be
operated in open or closed loop speed or torque modes.
The FIM2360 features several Analog, Pulse and Digital I/
Os which can be remapped as command or feedback inputs,
limit switches, or many other functions. The FIM2360 accepts
commands received from an RC radio, Analog Joystick,
wireless modem, or microcomputer. For mobile robot
applications, the controller’s two motor channels can either be
operated independently or mixed to move and steer a vehicle.
Using CAN bus, up to 127 controllers can be networked at up
to 1Mbit/s on a single twisted pair.
Numerous safety features are incorporated into the controller
to ensure reliable and safe operation. The controller’s
operation can be extensively automated and customized using
Basic Language scripts. The controller can be configured,
monitored and tuned in real-time using a RoboteQ’s free
PC utility. The controller can also be reprogrammed in the
field with the latest features by downloading new operating
software from Roboteq.
Applications
• Automatic Guided Vehicles
• Small Electric Vehicles, Electric Bikes
• Terrestrial and Underwater Robotic Vehicles
• Police and Military Robots
• Hazardous Material Handling Robots
• Animatronics
Key Features
• USB, Serial, 0-5V Analog, or Pulse (RC radio) command
modes
• One RS232 serial port
• CAN bus interface up to 1Mbit/s with multiple protocol
support
• RS485 interface
• Auto switch between Serial, USB, CAN, Analog, or Pulse
based on user-defined priority
• Built-in dual 3-phase high-power drivers for two AC
Induction motors at up to 60A
• Output channels can be paralleled in order to drive a
single motor at up to 120A
• Field Oriented Control
• Multiple Motor Operating mode
- Open Loop Volts per Hertz
- Fixed Slip Control
- FOC Torque Mode
- FOC Speed Mode
• Support for quadrature encoder
• Full forward & reverse motor control. Four quadrant
operation. Supports regeneration
• Operates from a single 10V-60V power source
• STO-Safe Torque Off support (T-version) - Certification No.
M6A 104504 0001 Rev. 00
• Design compliant/approval UL 61800-5-1
• Programmable current limit up to 60A (120A on single
channel version) per motor for protecting controller,
motor, wiring and battery.
FIM2360 Motor Controller Datasheet 1
• Separate connector for Hall Sensors
• Accurate speed and Odometry measurement using
Encoder data
• Up to 8 Analog Inputs for use as command and/or feed-back
• Up to 8 Pulse Length, Duty Cycle or Frequency Inputs for
use as command and/or feedback
• Up to 10 Digital Inputs for use as Deadman Switch, Limit
Switch, Emergency stop or user inputs
• Inputs for up to 2 Quadrature Encoders
• 4 general purpose 24V, 1.5A output for brake release or
accessories
• Selectable min, max, center and dead band in Pulse and
Analog modes
• Selectable exponentiation factors for each command
inputs
• Trigger action if Analog, Pulse or Hall counter capture are
outside user selectable range (soft limit switches)
• Built-in Battery Voltage and Temperature sensors
• Optional 12V backup power input for powering safely the
controller if the main motor batteries are discharged
• Power Control wire for turning On or Off the controller
from external microcomputer or switch
• No consumption by output stage when motors stopped
• Regulated 5V output for powering RC radio, RF Modem,
sensors or microcomputer
• Separate Programmable acceleration and deceleration for
each motor
• Ultra-efficient 2.5 mOhm ON resistance MOSFETs (1.25
mOhm on Single Channel)
• Stall detection and selectable triggered action if Amps is
outside user-selected range
• Short circuit protection
• Overvoltage and Undervoltage protection
• Watchdog for automatic motor shutdown in case of
command loss
• Overtemperature protection
• Diagnostic LED
• ABS plastic enclosure with heat conducting bottom plate
• Efficient heat sinking. Operates without a fan in most
applications.
• Dustproof and weather resistant. IP40rating
• Power wiring 0.25” Faston tabs
• 5.5” (139.7mm) L, 5.5” W (139.7mm), 1.0” (25mm) H
• -40o to +85o C operating environment
• 1 lbs (500g)
• Easy configuration, tuning and monitory using provided PC
utility
• Field upgradeable software for installing latest features via
the internet
Specifications and Listings
Controller is designed and build to comply with UL and IEC specifications and standards, but is approved only
under the mentioned standards on this datasheet.
Orderable Product References
Reference Number of Channels Amps/Channel Volts Ethernet STO
FIM2360 2 60 60 No No
FIM2360S 1 120 60 No No
FIM2360T 2 60 60 No Yes
FIM2360TS 1 120 60 No Ye s
FIM2360E 2 60 60 Ye s No
FIM2360ES 1 120 60 Yes No
FIM2360TE 2 60 60 Ye s Ye s
FIM2360TES 1 120 60 Ye s Ye s
2 FIM2360 Motor Controller Datasheet Version 1.1 August 29, 2019
Power Wires Identifications and Connection
(T-version)
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.
Power Wires Identifications and Connection
Power connections are made by means of faston tabs located at the back of the controller.
Jumper
FIGURE 1. FIM2360 front view
FIGURE 2. FIM2360 rear view
Connector
I/O ConnectorHall Sensors
LEDsSTO
USB
Connector
Pwr
CtrlVMOTGND U1V1W1U2V2W2
FIM2360 Motor Controller Datasheet 3
The diagram below shows how to wire the controller in a dual motor configuration, and
Controller Power
Motor Wires
VMot Ground Ground
(top)
Power Control
VMot
PwrCtrl
SW1 Main
On/Off Switch 1A
F2
1A
Diode
>20A
Resistor
1K, 0.5W
+-
SW2
Emergency
Contactor or
Cut-off Switch
F1
Encoder
Connector
I/O Connector
Ground
Ground
Main
Battery
Backup
Battery
Note 6
Do not Connect!
Note 1
2 etoN 3 etoN
U1 U2 V1 V2 W1 W2
Note 5
Note 4
Motor1
Encoder 1
A1/B1/
GND/+5V
U1
V1 W1
Motor2
Encoder 2
A2/B2/
U2
V2 W2
U1
V1
W1
U2
V2
W2
how to turn power On and Off.
Important Warning
Mandatory Connections
Emergency Switch or Contactor
4 FIM2360 Motor Controller Datasheet Version 1.1 August 29, 2019
FIGURE 3. Powering the controller. Thick lines identify MANDATORY connections
Carefully follow the wiring instructions provided in the Power Connection section of
the User Manual. The information on this datasheet is only a summary.
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
tab. Use a suitable high-current fuse F1 (check table 8) as a safety measure to prevent
damage to the wiring in case of major controller malfunction.
The battery must be connected in permanence to the controller’s Vmot tabs via a highpower 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.
Single Channel Wiring
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.
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 1K, 0.5W Resistor to prevent switch arcing.
Note 3: Insert a high-current diode to ensure a return path to the battery during
regeneration in case the fuse is blown.
Note 4: Optionally ground the Vmot tabs when the controller is Off if there is any concern
that the motors could be made to spin and generate voltage in excess of 60V.
Note 5: 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 6: 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 FIM2360S, the each of the motor wire must be connected to both
output tabs of the same letter as shown in the figure below. Use the Encoders of Channel
1 for operation.
U1
V1
W1
U2
V2
W2
FIGURE 4. Single Channel wiring diagram
W
V
U
FIM2360 Motor Controller Datasheet 5
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