FBL2360 Brushless DC Motor Controller Datasheet
13
Safe Torque Off - STO (Certification No. M6A 104504 0001 Rev 00)
Measured and Calculated Amps
The controller includes Amps sensors in line with the motor terminals. Motor Amps are
measured with precision. Battery Amps are estimated mathematically.
When motor is rotating, amps are AC. The FBL2360 measures and is rated based on
RMS Amps. The table below shows the relation between the RMS current and the DC
Equivalent in Sinusoidal and Trapezoidal modes. In sinusoidal mode, DC equivalent are the
amps resultant from the torque (Iq) and quadrature (Id) vectors. In trapezoidal mode, they
are the DC amps that flow through the two coils that are active at any one time.
Amps RMS
DC Equivalent
Sinusoidal
120A
170A (Irms * 1.414)
60A
85A (Irms * 1.414)
Trapezoidal
120A
147A (Irms * 1.225)
60A
73.5 (Irms * 1.225)
Safe Torque Off - STO (Certification No. M6A 104504 0001 Rev 00)
Safe Torque Off is a safe method for switching controller in a state where no torque is
generated, regardless whether the controller is operating normally or is faulty. When
STO is enabled, two digital inputs, DIN1 and DIN2 are remapped as STO1 and STO2. The
inputs are redundant and both must have a 6V to 30V signal present at the same time in
order for the Power MOSFETs to be energized. The controller will perform a self-check
of the STO circuit at every power on and every time the STO inputs go from any state
to both high. Once the STO hardware is verified to work, the controller will safely allow
the motors to be energized. If either input is below 1V, the controller’s outputs will be
disabled. The STO circuit is verified and validated and can therefore be trusted instead of
external relays. See
STO Manual
for more information and maintenance instructions.
By factory default STO functionality is disabled. It must be enabled by removing the
jumper located on the controller’s PCB. STO functionality is only available in the T version
of the controller.
6 to 30V
6 to 30V
STO1
STO2
High
Low
High
Low
STO1 STO2 Motors Output
Disabled
Disabled/Fault
Disabled/Fault
Enabled
Low
Low
Low
Low
High
High
High
High
Figure 13. STO input levels effects on controller output
The STO function is compliant to:
•
IEC 61800-5-2:2007, SIL 3
•
IEC 61508:2010, SIL 3
•
IEC 62061:2005, SIL 3
•
ISO 13849-1:2015, Category 3 Performance Level e
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FBL2360_1691-21588-0001-D-0720
