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Product User’s Manual – ​
MDDS60

SmartDriveDuo­60
MDDS60

User's Manual
Rev 1.0

August 2015

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Product User’s Manual – ​
MDDS60

INDEX

1. Introduction 3

2. Packing List 4

3. Product Specification​
s 5

4. Board Layout 6

5. Power Supply 9

6. Motor Connection 10

7. Safety Features 11

8. Input Modes 12
a. RC Input Mode 14
b. Analog/PWM Input Mode 16
c. Simplified Serial Mode 18
d. Packetized Serial Mode 20

9. Warranty 22

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Product User’s Manual – ​
MDDS60

1. INTRODUCTION

SmartDriveDuo­60 is one of the latest smart series motor drivers designed to drive medium
power brushed DC motor with current capacity up to 100A peak (few seconds) and 60A
continuously, each channel. This driver is designed specially for controlling differential drive
mobile robot using RC controller. Nevertheless, MDDS60 also can be controlled using
analog joystick or microcontroller (PWM, Serial). MOSFETs are switched at 16 KHz to
ensure quiet operation and no annoying whining sound. Besides, it also equipped with a
microcontroller unit to provide smart features such as multiple input mode and thermal
protection.

SmartDriveDuo­60’s feature makes driving a robot with differential drive a truly plug and
play experience.

Some of the features for SmartDriveDuo­60 are summarized as below:

● Bi­directional control for dual brushed DC motor.
● Support motor voltage from 10V to 45V.
● Maximum current up to 100A peak (1 second), 60A continuously, each channel.
● On board MOSFETs are switched at 16 KHz for quiet operation.
● Battery low voltage indicator.
● Battery over voltage indicator.
● Thermal protection.
● Multiple input modes: RC, Analog, PWM, Simplified Serial and Packetized Serial.
● On board push buttons for fast test and manual operation.
● No polarity protection for V motor​ .

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Product User’s Manual – ​
MDDS60

2. PACKING LIST

Please check the parts and components according to the packing list. If there are any parts
missing, please contact us at ​
sales@cytron.com.my​
immediately.

● 1x​
SmartDriveDuo­60​ with top and bottom cover.
● 2x​
2561 Servo Extension cable

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Product User’s Manual – ​
MDDS60

3. PRODUCT SPECIFICATIONS

Dimension:

Absolute Maximum Rating of SmartDriveDuo­60

No Parameters Min Typical Max Unit

1 Input Voltage (Motor Supply Voltage) 10 ­ 45 V

2 I​ (Maximum Continuous Motor Current)*

MAX​ ­ ­ 60 A

3 I​ – (Peak Motor Current) **

PEAK​ ­ ­ 100 A

4 V​ (Logic Input – High Level)

IOH​ 1.3 ­ 5 V

5 V​ (Logic Input – Low Level)

IOL​ 0 ­ 0.7 V

6 5V Output Current ­ ­ 500 mA

* Depends on the room temperature.
** Must not exceed 1 second.

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Product User’s Manual – ​
MDDS60

4. BOARD LAYOUT

Label Function

A Motor LEFT Terminal Block

B Power Supply Terminal block

C Motor RIGHT Terminal Block

D Motor LEFT LED Indicator

E Motor RIGHT LED Indicator

F Power Switch Terminal Block

G Cooling Fan

H Run and Error LED

I Motor LEFT Test Button

J Motor RIGHT Test Button

K Mode Selection DIP Switch

L RC Input Pin

M Analog/PWM/Serial Input Terminal Block

BLUE​
*Note: For ​ font, the component is located at middle board.

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Product User’s Manual – ​
MDDS60

FUNCTION Description:

Motor LEFT Terminal Block

Connect to motor LEFT at your mobile robot. User can screw to lock the wire to the terminal
block or solder the wire directly to the pad at bottom layer. Please use wire with proper
thickness to support the expected current.

Power Supply Terminal Block

Connect to power source. User can screw to lock the wire to the terminal block or solder the
wire directly to the pad at bottom layer. ​
No polarity protection​
, please double check before
power up. Please use wire with proper thickness to support the expected current.

Motor RIGHT Terminal Block

Connect to motor RIGHT at your mobile robot. User can screw to lock the wire to the
terminal block or solder the wire directly to the pad at bottom layer. Please use wire with
proper thickness to support the expected current.

Motor LEFT LED Indicator

Indication for current flow and direction for motor LEFT. If LED MLA turns on, means
current flows from output MLA to MLB. Vice versa.

Motor RIGHT LED Indicator

Indication for current flow and direction for motor RIGHT. If LED MRA turns on, means
current flows from output MRA to MRB. Vice versa.

Power Switch Terminal Block

Switch for power up MDDS60’s microcontroller and logic circuit. This switch is ON by
default. User need to cut the PCB track at the bottom layer of PCB to utilize this terminal.

Cooling Fan
Once MDDS60 is powered up, this fan will blow the board.

Run and Error LED

RUN_L: Turns on when motor LEFT is running. If signal error received for motor LEFT, it
will blink.

RUN_R: Turns on when motor RIGHT is running. If signal error received for motor RIGHT,
it will blink.

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Product User’s Manual – ​
MDDS60

Error LED
Number of Blinks Error Description

Off No Error No error has been detected.

2 Input Error Invalid or no input detected.

3 Under Voltage The battery voltage is low.

Supply voltage is over the limit. MDDS60

4 Over Voltage
will not operate.

5 Over Temperature Board temperature is high.

Board temperature is too high! Motor

6 Shutdown
automatically stop.

Motor LEFT Test Button

Fast test to check driver functionality for motor LEFT. If A is pressed, current flows from
output A to B. Vice Versa.

Motor RIGHT Test Button

Fast test to check driver functionality for motor RIGHT. If A is pressed, current flows from
output A to B. Vice Versa.

Mode Selection DIP Switch

User can select different input mode by setting the DIP switch.

RC Input Pin
This pins specially for RC receiver input wire. RC1 for forward/reverse and RC2 for steering.

Analog/PWM/Serial Input Terminal Block

No Pin Name Description

1 DIG1* 1: Digital signal (Direction) for motor LEFT.

2: Serial Simplified, Serial Packetized.

2 DIG2 Digital signal (Direction) for motor RIGHT.

3 AN1 Analog/PWM signal for motor LEFT.

4 AN2 Analog/PWM signal for motor RIGHT.

5 +5V +5V output. ​

Do not​
connect to another 5V source.

6 GND Ground.
*DIG1 can accept 2 types of input.
**Please refer to INPUT MODE section for more detail.

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Product User’s Manual – ​
MDDS60

5. POWER SUPPLY

SmartDriveDuo­60 supports input voltage ranges from 10V to 45V. The recommended power
sources are:
● 6 – 18 cells NiMH or NiCd battery.
● 3 – 6 cells LiPo or Li­Ion battery.
● 10V – 45V sealed lead acid battery.
● 10V – 45V power supply (​ Must be in parallel with a battery with same voltage​
).

The power source can be connected to SmartDriveDuo­60 either via the terminal block, or
soldered directly to the pad at the bottom layer. ​
There is no polarity protection on
MDDS60, please double check the connection before connecting to power source.

NOTE:
1. If a power supply that cannot sink current is being used (example: bench top and AC to
DC switching power supply), the input voltage will rise when the driver is regenerating
(motor is slowing down). Thus, it is important to connect a battery with same voltage
in parallel with the power supply to absorb the current generated by the motor. Else,
the input voltage might rise to a level where SmartDriveDuo­60 will be destroyed
permanently or the power supply trigger protection mode.

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Product User’s Manual – ​
MDDS60

6. MOTOR CONNECTION

Similar to the power supply, connection to the motor can be made either via the terminal
block, or it can be soldered directly to the bottom layer pad.

For Mixed mode, especially for ​ RC input mode (or ​ Breakout board with Joystick soldered​ ),
each terminal block must be connected to the same side of the motor. For example, ​ left
terminal block connected to motor LEFT and right terminal block connected to motor
RIGHT​ . User can further test it by controlling the motor by using RC controller. If the motor
give wrong direction, reverse the polarity of the motor connection at the terminal block.

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Product User’s Manual – ​
MDDS60

7. SAFETY FEATURES

SmartDriveDuo­60 incorporates some safety features which make it robust and reliable motor
driver. Below are the detailed descriptions for each feature.

a. Input Error (Error LED blinks 2 times)

Every time SmartDriveDuo­60 is power up, the input data must be ‘stop’ (for RC,
Analog, PWM input mode). This feature prevent the driver from sudden run,
especially when the driver accidently reset.

b. Under Voltage Warning (Error LED blinks 3 times)

Upon power on, SmartDriveDuo­60 will automatically detect the number of cells for
the battery. If it is set to LiPo, when the input voltage falls below 3.0V per cell during
operation, the error LED will blink to warn the user. However, the power to the motor
will be maintained and will not be cut out. Thus, it is user’s responsibility to stop the
motor driving and replace battery to avoid further damage to the battery. If other types
of battery is used to power the board (e.g NiMH, NiCD, SLA), the under voltage
warning will still be shown. In this case, user may ignore the warning and he/she
needs to estimate when to replace the battery by him/herself.

c. Over Voltage Protection (Error LED blinks 4 times)

If over voltage is detected (> 45V), SmartDriveDuo­60 will not operate.

d. Over Temperature Protection (Error LED blinks 5 times)

SmartDriveDuo­60 is equipped with a temperature sensor to monitor its operating
temperature. It will gradually lower down the duty cycle percentage base on the
temperature as shown below:

o​
Temperature Range (​C) Duty Cycle (%)
< 50 100
50 – 55 90
55 – 60 80
60 – 65 70
65 – 70 60
70 – 80 50
80 – 85 40
85 – 90 30
90 – 95 20
95 – 100 10
100 – 105 5
> 105 0 (Shutdown)

e. Shutdown (Error LED blinks 6 times)

Shutdown will occur when SmartDriveDuo­60 temperature become too high
o​
(temperature > 105​ C). As a result, motor will stop automatically. The driver for
o​
respective channel starts operate again when temperature decrease less than 70​C.

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Product User’s Manual – ​
MDDS60

Note:​
MDDS60 does not come with polarity protection, please double check the
connection before powering up.

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Product User’s Manual – ​
MDDS60

8. INPUT MODE

When the SmartDriveDuo­60 is powered up, RUN­L LED, ERR LED and RUN­R LED will
running once. After that, the input mode will be read from the DIP switch and retained as
long as the driver is powered. If you wish to change the input mode, you will need to change
the setting on the DIP switch and ​ press the “RST” reset button​, or power cycle the driver
(Turn it off and turn it on again).

SmartDriveDuo­60 supports four different types of input mode (RC, Analog, PWM and
Serial). The DIP switch settings for each mode and the function for input pin are summarized
on the following page.

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Product User’s Manual – ​
MDDS60

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Product User’s Manual – ​
MDDS60

8.1 RC INPUT MODE

In RC input mode, the speed and direction of the motor is controlled by the signal from the
standard hobby radio control transmitter and receiver, or a microcontroller generating the
similar signal.

NOTE:​
The RC transmitter must be ON before power up the SmartDriveDuo­60.

RC Input mode is selected by setting the ​

SW1 & SW2 to ​
0 (Down)​
. SW3 – SW6 can be
configured depending on the requirement of the user.

SW1:SW2
Input Mode RC Input Mode
00
SW3:SW4
00 Mixed – The motor speed is controlled by channel RC1 and direction is
controlled by channel RC2. Recommended this mode if controlled
using RC transmitter/receiver.

01 Independent Right – Only motor Right will active, motor Left will
inactive. Motor Right is controlled by channel RC2.
Single/Mix Mode
10 Independent Left – Only motor Left will active, motor Right will
inactive. Motor Right is controlled by channel RC1.

11 Independent Both ­ Both motor is active and can be controlled

individually through channel RC1 and RC2. Recommended this mode if
controlled using Microcontroller.

SW5
0 Off – The speed is linear with the input signal. This is for low to
medium speed motor.
Exponential Mode
1 On –The response to input is exponential and thus soften the control
around the center zero speed point. This is suitable for high speed and
very sensitive motor.
SW6
0 Off – The center point will be calibrated upon power up. Timeout
occurs after lost of signal for 100ms and the motor will be stopped for
safety purpose.

1 On – The center point is fixed at 1.5ms and the timeout feature is

MCU Mode
disabled. Motor will continue to run with previous speed if new signal
is not detected. This is useful when a microcontroller is used to control
the motor. The microcontroller does not need to send the pulse
continuously to the SmartDriveDuo­60. Instead, it only needs to send a
single pulse when the speed or direction of the motor needs to be
changed.
0 – OFF 1 – ON X – Don’t Care

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Product User’s Manual – ​
MDDS60

Figures below show the connection in RC mode.

RC Mode with RC Transmitter/Receiver (Mixed), DIP switch

12345678
00000000

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MDDS60

RC Mode with Microcontroller (Independent Both), DIP switch

12345678
00110100

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Product User’s Manual – ​
MDDS60

8.2 ANALOG/PWM INPUT MODE

In Analog/PWM input mode, the speed and direction of the motor is controlled by the analog
voltage or PWM signal. The valid input range is 0 – 5V and it’s very easy to control by using
a potentiometer. For example, the motor can be controlled by a joystick or foot pedal with
potentiometer.

NOTE: The Analog/PWM signal to stop the motor (2.5V if Sign­Magnitude mode is off,
0V otherwise) must be available when the SmartDriveDuo­60 is turned on. Else, the driver
will show Input Error until the correct signal is available.

Analog input mode is selected by setting ​

SW1 to 0 (Down) and SW2 to ​
1 (Up)​
. PWM input
mode is selected by setting ​SW1 to 1 (Up) and SW2 to ​ 0 (Down)​
. SW3 – SW6 can be
configured depending on the requirement of the user.
SW1:SW2
01 Analog Input Mode – The input is analog signal. The filter
capacitor is not connected and the input signal is not filtered.
SW1 is for Input 1 while SW2 is for Input 2.
Input Mode
10 PWM Input Mode – The input is PWM signal. The filter
capacitor is connected and the input signal is low pass filtered to
be an analog signal. SW1 is for Input 1 while SW2 is for Input 2.
SW2 must be set to 0 if Sign­Magnitude mode is turned on.

SW3:SW4
00 Mixed – The motor speed is controlled by channel RC1 and
direction is controlled by channel RC2. Recommended this mode
if controlled using ​
Breakout board with Joystick soldered​
.

01 Independent Right – Only motor Right will active, motor Left

will inactive. Motor Right is controlled by channel RC2.
Single/Mix Mode
10 Independent Left – Only motor Left will active, motor Right
will inactive. Motor Right is controlled by channel RC1.

11 Independent Both ­ Both motor is active and can be controlled

individually through channel RC1 and RC2. ​
Recommended this
mode if controlled using Microcontroller.

SW5
0 Off – The speed is linear with the input signal. This is for low to
medium speed motor.
Exponential Mode
1 On –The response to input is exponential and thus soften the
control around the center zero speed point. This is suitable for
high speed and very sensitive motor.

SW6
0 Locked Anti­Phase – Motor stops when the input signal is 2.5V.
Motor moves in one direction when the input is < 2.5V and in
Sign­Magnitude another direction when the input is > 2.5V. Recommended this
Mode mode if controlled using ​
Breakout board with Joystick soldered​
.

Signed Magnitude – AN1 and AN2 controls the speed of the

1 motor. Motor stops when the input is 0V and run at full speed

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when the input is 5V. DIG1 and DIG2 is digital inputs and it
controls the direction of the motor respectively.
0 ­ OFF 1 ­ ON X ­ Don’t Care

Figures below show the connection in analog/PWM input mode.

Analog input mode with Joystick board (Mixed), DIP switch

DIP Switch Setting
12345678
01000000

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MDDS60

PWM input mode with microcontroller (Independent Both), DIP switch

DIP Switch Setting

12345678
10110100

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MDDS60

8.3 SERIAL SIMPLIFIED MODE

In Simplified Serial mode, SmartDriveDuo­60 is controlled by using the UART interface.

DIG1 pin is the UART Rx. DIG2, AN1 and AN2 pins are not used in this mode.

A single byte of data is all you need to control the speed and direction for each motor. First
MSB bit is to select which motor to control, and the rest bits is to control.

Bit 7​
(MSB) 6 5 4 3 2 1 0​
(LSB)

Function Channel Direction Speed

Bit 7 (Channel): 0 ­ motor LEFT, 1 ­ motor RIGHT.

Bit 6 ­ 0: Control motor direction and speed.

Example: Value in Decimal

● 0 or 64 ­ motor LEFT stop.
● 63 ­ motor LEFT full forward.
● 127 ­ motor LEFT full reverse.
● 128 or 192 ­ motor RIGHT stop.
● 191 ­ motor RIGHT full forward.
● 255 ­ motor RIGHT full reverse.

Simplified Serial mode is selected by setting ​

SW1, SW2 to 1 (Up) and SW3 to ​
0 (Down)​
.
SW4 – SW6 are used to select the UART baud rate.

SW1 ­ SW3
Input Mode
110 Simplified Serial Mode

SW4 ­ SW6 Baud Rate

000 1200
001 2400
010 4800
UART Baud Rate 011 9600
100 19200
101 38400
110 57600
111 115200
0 ­ OFF 1 ­ ON X ­ Don’t Care

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Figure below shows the connection to multiple SmartDriveDuo­60 in Simplified Serial

Mode.

Simplified Serial mode with microcontroller (9600bps), DIP switch

DIP Switch Setting
12345678
11001100

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8.4 SERIAL PACKETIZED MODE

In Packetized Serial mode, SmartDriveDuo­60 is controlled by using the UART interface.

DIG1 pin is the UART Rx pin. DIG2, AN1 and AN2 pins are not used in this mode. To
control the motor, data sent to the driver must be in 4 bytes packet format which includes a
header, address, command and checksum. Up to 8 units of SmartDriveDuo­60 can be
connected together to a single microcontroller UART Tx pin.

Besides that, the SmartDriveDuo­60 also incorporates an Auto­Baud feature in Packetized

Serial mode. When the driver is first powered up, the host microcontroller must send a header
byte (Decimal 85 or hex 55) once to the driver. The driver will then calculate the baud rate
automatically based on this byte. After that, SmartDriveDuo­60 is ready to read full packet (4
bytes) and the baud rate cannot be changed without power recycle (power off and on) or reset
button.

NOTE:
1. When the driver is powered up and waiting for the header byte, the error LED will
blink and indicate that there is input error.
2. SmartDriveDuo­60 may take up to 500ms to start up after power is applied. Sending
the header byte for auto baud during this time period may cause undesirable results.
Please allow one­second delay between applying power and sending the header byte.

Packetized Serial mode is selected by setting ​

SW1, SW2 and SW3 to ​
1 (Up)​
. SW4 – SW6
are used to select the address.

SW1 ­ SW3
Input Mode Packetized Serial Mode
111

SW4 ­ SW6
UART Address 0­7
000 ­ 111
0 ­ OFF 1 ­ ON X ­ Don’t Care

A packet consists of 4 bytes and the format is shown in the following table.

Byte Name Value (Decimal) Description

1 Header 85 To indicate the start of packet.
Used to identify the driver when multiple units are connected
Channel & Channel: Bit 3 together. The address bits (bit 2 ­ 0) must match the address
2
Address Address: Bit 2 ­ 0 configured with the DIP switch. Bit 3 represent which motor
to be controlled, 0 for motor LEFT and 1 for motor RIGHT.
Value 127 stops the motor, 0 is full reverse and 255 is full
3 Command 0 – 255
forward.
The value for checksum must be the result of
4 Checksum 0 – 255
Header + Address + Command

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Figure below shows the connection to multiple drivers in Packetized Serial Mode.

Packetized Serial mode with microcontroller (Address = 0), DIP switch

DIP Switch Setting
12345678
11100000

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9. WARRANTY

● Product warranty is valid for 12 months.

● Warranty only applies to manufacturing defect.
● Damaged caused by misuse is not covered under warranty
● Warranty does not cover freight cost for both ways.

Prepared by:
Cytron Technologies Sdn. Bhd.
No. 16, Jalan Industri Ringan Permatang Tinggi 2,
Kawasan Industri Ringan Permatang Tinggi,
14100 Simpang Ampat,
Penang, Malaysia.

Tel: +604 ­ 504 1878

Fax: +604 ­ 504 0138

URL: www.cytron.com.my
Email: ​
support@cytron.com.my
sales@cytron.com.my

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