How to Use RoboClaw 2x15A Motor Controller: Examples, Pinouts, and Specs

The RoboClaw 2x15A Motor Controller (Part ID: IMC412) by BASICMICRO is a dual-channel motor controller designed to drive two brushed DC motors with a maximum continuous current of 15A per channel. It offers advanced motor control features, including speed, direction, and position control, and supports multiple communication protocols such as USB, TTL serial, RC, and analog inputs. The RoboClaw is ideal for robotics, automation, and other applications requiring precise motor control.

• Robotics and autonomous vehicles
• Conveyor belt systems
• Automated guided vehicles (AGVs)
• Remote-controlled vehicles
• Industrial automation systems

The RoboClaw 2x15A Motor Controller features multiple connectors for power, motor outputs, and communication. Below is a summary of the key pin configurations:

1. Power Connection: Connect a DC power supply (6V to 34V) to the VIN+ and VIN- terminals. Ensure the power supply can handle the current requirements of your motors.
2. Motor Connection: Connect the two DC motors to the M1A/M1B and M2A/M2B terminals. Ensure proper polarity for desired motor direction.
3. Communication Setup: Choose a communication protocol (USB, TTL Serial, RC, or Analog) and connect the appropriate pins to your controller or PC.
4. Encoder Connection (Optional): If using encoders for closed-loop control, connect the encoder outputs to the ENC1A/ENC1B and ENC2A/ENC2B pins.
5. Configuration: Use the BASICMICRO Motion Studio software (via USB) to configure the motor controller settings, such as control mode, motor parameters, and communication options.

• Heat Dissipation: Ensure adequate ventilation or heat sinking to prevent overheating during high-current operation.
• Power Supply: Use a power supply with sufficient current capacity to avoid voltage drops or instability.
• Wiring: Use appropriately rated wires for power and motor connections to handle the current without excessive heating.
• Safety: Always test the motor controller with low power settings before full operation to ensure proper wiring and configuration.

The RoboClaw can be controlled via TTL Serial communication with an Arduino UNO. Below is an example code snippet to control motor speed and direction:

#include <SoftwareSerial.h>

// Define RoboClaw serial pins
#define ROBOCLAW_RX 10  // Arduino pin connected to RoboClaw TX
#define ROBOCLAW_TX 11  // Arduino pin connected to RoboClaw RX

// Create a SoftwareSerial object for RoboClaw communication
SoftwareSerial roboclaw(ROBOCLAW_RX, ROBOCLAW_TX);

void setup() {
  // Initialize serial communication with RoboClaw
  roboclaw.begin(38400); // Default baud rate for RoboClaw
  Serial.begin(9600);    // For debugging with Serial Monitor

  // Send a command to stop both motors
  sendMotorCommand(0, 0);
}

void loop() {
  // Example: Set motor 1 to 50% forward speed and motor 2 to 50% reverse speed
  sendMotorCommand(64, -64); // Speed range: -127 (full reverse) to 127 (full forward)
  delay(5000);               // Run motors for 5 seconds

  // Stop both motors
  sendMotorCommand(0, 0);
  delay(2000);               // Pause for 2 seconds
}

// Function to send motor speed commands to RoboClaw
void sendMotorCommand(int motor1Speed, int motor2Speed) {
  // Ensure speed values are within the valid range
  motor1Speed = constrain(motor1Speed, -127, 127);
  motor2Speed = constrain(motor2Speed, -127, 127);

  // Send command to RoboClaw
  roboclaw.write(0x80);       // Address byte (default: 0x80)
  roboclaw.write(0x00);       // Command byte for motor speed control
  roboclaw.write(motor1Speed + 128); // Motor 1 speed (offset by 128 for 0-255 range)
  roboclaw.write(motor2Speed + 128); // Motor 2 speed (offset by 128 for 0-255 range)
  roboclaw.write(0x00);       // Placeholder checksum (not used in this example)
}

1. Motors Not Running:

   • Verify power supply voltage and current capacity.
   • Check motor connections for proper wiring and polarity.
   • Ensure the motor controller is configured correctly using the BASICMICRO Motion Studio.

2. Overheating:

   • Ensure proper ventilation or use a heat sink.
   • Reduce motor load or operating current if possible.

3. Communication Issues:

   • Verify baud rate and communication settings.
   • Check wiring for loose or incorrect connections.
   • Ensure the correct communication protocol is selected in the configuration.

4. Erratic Motor Behavior:

   • Check for noise or interference in the power supply or signal lines.
   • Verify encoder connections and settings if using closed-loop control.

• Can the RoboClaw control stepper motors? No, the RoboClaw is designed for brushed DC motors only.

• What happens if the current exceeds 15A? The RoboClaw includes overcurrent protection and will shut down temporarily to prevent damage.

• Can I use the RoboClaw with a Raspberry Pi? Yes, the RoboClaw supports USB and TTL Serial communication, which can be used with a Raspberry Pi.

• Is the RoboClaw compatible with LiPo batteries? Yes, the RoboClaw can be powered by LiPo batteries within the 6V to 34V range.