Sevcon - norlab-ulaval/Norlab_wiki GitHub Wiki

The motor controllers in the Warthog are Sevcon Gen4 size 2 (User Manual). This is the wiring configuration currently in the warthog.

The Sevcon is the 48V Can Bus brush-less motor controller it enables precise control and conversion of the encoder data to CAN bus see here Norlab's patch node. The motor controller draws it's power from the main 48V relay and the CAN bus module is separately powered via the 48V on the LED-master board. To open the main relay,the 12V motor enable signal from the E-stop loop must close the relay on the LED master PCB which provides power to the CAN module subsequently, the low level computer's launch_robot.service to pull up the Sevcon En line.