I/O
RoboClaw is compatible with both 5V and 3.3V logic systems. All inputs are protected by internal current limiting and voltage clipping circuits that safely handle signals up to 5V. RoboClaw outputs a 3.3V logic level that is compatible with both 5V and 3.3V systems. This design ensures reliable operation while protecting the I/O circuitry from damage.
Headers
RoboClaws share the same header and screw terminal pinouts across models in this user manual. The main control I/O are arranged for easy connectivity to control devices such as R/C controllers. The headers are also arranged to provide easy access to ground and power for supplying power to external controllers. See the specific RoboClaw model’s data sheet for pinout details.
Control Inputs
S1, S2, S3, S4 and S5 are set up with standard servo style headers: I/O (except on ST models), +5V and GND. S1 and S2 are the control inputs for serial, analog and RC modes. S3 can be used as a flip switch input when in RC or Analog modes. In serial mode S3, S4 and S5 can be used as emergency stop inputs or as voltage clamp control outputs. When set as E-Stop inputs they are active when pulled low and have internal pullups so they will not accidentally trip when left floating. S4 and S5 can also optionally be used as home signal inputs. The pins closest to the board edge are the I/Os, the center pin is the +5V and the inside pins are ground. Some RC receivers have their own supply and will conflict with the RoboClaw’s 5V logic supply. It may be necessary to remove the +5V pin from the RC receiver’s cable in those cases.
Encoder Inputs
EN1 and EN2 are the inputs from the encoders on pin header versions of RoboClaw. 1B, 1A, 2B and 2A are the encoder inputs on screw terminal versions of RoboClaw.
When connecting the encoder make sure the leading channel for the direction of rotation is connected to A. If one encoder is backwards to the other you will have one internal counter counting up and the other counting down. Refer to the data sheet of the encoder you are using for channel direction. Which encoder is used on which motor can be swapped via a software setting.
Logic Battery (LB IN)
The LB-IN input is an optional input intended to provide backup power to the logic section in systems where the main battery may be subject to heavy load conditions. During continuous full-load operation or rapid direction changes, voltage drops may occur on the main battery supply. If the logic section is powered solely from the main battery, these voltage drops can result in logic brownouts. Supplying a secondary logic battery through the LB-IN input prevents brownouts and ensures stable logic operation. Refer to the specific motor controller datasheet for the minimum and maximum supported logic battery voltage ranges.
Encoder Power (+ -)
The pins labeled + and – are the source power pins for encoders. The positive (+) is located at the board edge and supplies +5VDC. The ground (-) pin is near the heatsink. On ST models all power must come from the single 5V screw terminal and the single GND screw terminal.