# Electrónica

La electrónica del sistema de dirección está ubicado en la parte frontal del vehículo. Como podemos observar, se encuentra dentro de la caja metálica indicada en la imagen.

[![photo_2023-12-14_15-47-00.jpg](https://wiki.racarla.es/uploads/images/gallery/2025-04/scaled-1680-/photo-2023-12-14-15-47-00.jpg)](https://wiki.racarla.es/uploads/images/gallery/2025-04/photo-2023-12-14-15-47-00.jpg)

  
  
La caja del steering controller tiene varios cables de entrada y salida estos se resumen en 4 grupos:

Grupo 1:

- Encoder Motor DC (Bristish Encoder Product Company Modelo 15/T/HV PPR 1000)

Grupo 2:

- Motor DC (Koyo Seiko NO 45262??8)

Grupo 3:

- 48V Filtrados
- 24V
- Cable RS-232 configuración del driver (CONECTOR DB9 - PIN 3 RX VERDE, PIN 2 AMARILLO, PIN 5 GND MARRÓN)

Grupo 4:

- Cable BUS CAN
- Encoder Dirección
- Endstops Dirección (para limitar el rango de la dirección)

[![photo_2023-12-14_15-47-11.jpg](https://wiki.racarla.es/uploads/images/gallery/2025-04/scaled-1680-/photo-2023-12-14-15-47-11.jpg)](https://wiki.racarla.es/uploads/images/gallery/2025-04/photo-2023-12-14-15-47-11.jpg)

[![SteeringController_EsquemaGeneral-GENERAL_SCHEMATIC.drawio.png](https://wiki.racarla.es/uploads/images/gallery/2025-04/scaled-1680-/steeringcontroller-esquemageneral-general-schematic-drawio.png)](https://wiki.racarla.es/uploads/images/gallery/2025-04/steeringcontroller-esquemageneral-general-schematic-drawio.png)

  
**Grupo 1 y 2** actuan en conjunto:

***Motor DC***

Koyo Seiko NO 45262??8

[![8PW1744047006147.jpg](https://wiki.racarla.es/uploads/images/gallery/2025-04/scaled-1680-/8pw1744047006147.jpg)](https://wiki.racarla.es/uploads/images/gallery/2025-04/8pw1744047006147.jpg)

***Encoder Motor DC***

Bristish Encoder Products Company

Modelo 15/T/HV PPR 1000

Cableado:

<table border="1" id="bkmrk-black-0-volts-%28gnd%29-" style="border-collapse: collapse; width: 100%; height: 273.766px; border-width: 1px;"><colgroup><col style="width: 50.0618%;"></col><col style="width: 50.0618%;"></col></colgroup><tbody><tr style="height: 35.3906px;"><td style="height: 35.3906px;">BLACK</td><td style="height: 35.3906px;">0 Volts (GND)

</td></tr><tr style="height: 29.7969px;"><td style="height: 29.7969px;">WHITE</td><td style="height: 29.7969px;">VCC (+5V)</td></tr><tr style="height: 29.7969px;"><td style="height: 29.7969px;">BROWN</td><td style="height: 29.7969px;">CH A</td></tr><tr style="height: 29.7969px;"><td style="height: 29.7969px;">RED</td><td style="height: 29.7969px;">CH B</td></tr><tr style="height: 29.7969px;"><td style="height: 29.7969px;">ORANGE</td><td style="height: 29.7969px;">CH Z</td></tr><tr style="height: 29.7969px;"><td style="height: 29.7969px;">YELLOW</td><td style="height: 29.7969px;">CH -A</td></tr><tr style="height: 29.7969px;"><td style="height: 29.7969px;">GREEN</td><td style="height: 29.7969px;">CH -B</td></tr><tr style="height: 29.7969px;"><td style="height: 29.7969px;">BLUE</td><td style="height: 29.7969px;">CH -Z</td></tr><tr style="height: 29.7969px;"><td style="height: 29.7969px;">SCREEN</td><td style="height: 29.7969px;">CASE GROUND</td></tr></tbody></table>

[![1744047006155_mod.jpg](https://wiki.racarla.es/uploads/images/gallery/2025-04/scaled-1680-/1744047006155-mod.jpg)](https://wiki.racarla.es/uploads/images/gallery/2025-04/1744047006155-mod.jpg)

***Grupo 4***:

***ENDSTOP DIRECCIÓN***

<table border="1" id="bkmrk-derecha-gnd-none-%28nc" style="border-collapse: collapse; width: 100%; border-width: 1px;"><colgroup><col style="width: 33.2335%;"></col><col style="width: 33.2335%;"></col><col style="width: 33.2335%;"></col></colgroup><tbody><tr><td>DERECHA</td><td>GND</td><td>NONE (NC)</td></tr><tr><td>RIGHT</td><td>  
</td><td>ROJO (NO)</td></tr><tr><td>IZQUIERDA </td><td>GND</td><td>NONE (NC)</td></tr><tr><td>LEFT</td><td>  
</td><td>AMARILLO (NO)</td></tr></tbody></table>

[![SteeringController_EsquemaGeneral-ENDSTOP.drawio.png](https://wiki.racarla.es/uploads/images/gallery/2025-04/scaled-1680-/steeringcontroller-esquemageneral-endstop-drawio.png)](https://wiki.racarla.es/uploads/images/gallery/2025-04/steeringcontroller-esquemageneral-endstop-drawio.png)

***ENCODER CAN DIRECCIÓN***

Bristish Encoder Products Company

Modelo <span style="text-decoration: underline;">SA36H Single Turn Absolute (01 o 04) POR CONFIRMAR</span> SF 12-V3-P1-C1-A EMK

<table border="1" id="bkmrk-negro-gnd-blanco-vcc" style="border-collapse: collapse; width: 100%; border-width: 1px;"><colgroup><col style="width: 33.2335%;"></col><col style="width: 33.2335%;"></col><col style="width: 33.2335%;"></col></colgroup><tbody><tr><td>NEGRO</td><td>GND</td><td>  
</td></tr><tr><td>BLANCO</td><td>VCC (12V o 24V)</td><td>Lo más seguro 24V</td></tr><tr><td>AMARILLO</td><td>CAN H (CNH)</td><td>BUS CAN CONECTOR NEGRO TRASERO </td></tr><tr><td>VERDE</td><td>CAN L (CNL)</td><td>BUS CAN CONECTOR NEGRO TRASERO</td></tr><tr><td>MARRÓN</td><td>GND CAN (GNDI)</td><td>BUS CAN CONECTOR NEGRO TRASERO</td></tr></tbody></table>

[![1744047006183_mod.jpg](https://wiki.racarla.es/uploads/images/gallery/2025-04/scaled-1680-/1744047006183-mod.jpg)](https://wiki.racarla.es/uploads/images/gallery/2025-04/1744047006183-mod.jpg)

[![1744047006173.jpg](https://wiki.racarla.es/uploads/images/gallery/2025-04/scaled-1680-/1744047006173.jpg)](https://wiki.racarla.es/uploads/images/gallery/2025-04/1744047006173.jpg)

  
  
***CONTROLADOR DIRECCIÓN DZCANTE-020L080***  
  
  
[![motor_driver.jpg](https://wiki.racarla.es/uploads/images/gallery/2025-04/scaled-1680-/motor-driver.jpg)](https://wiki.racarla.es/uploads/images/gallery/2025-04/motor-driver.jpg)[![photo_2023-12-14_15-47-04.jpg](https://wiki.racarla.es/uploads/images/gallery/2025-04/scaled-1680-/photo-2023-12-14-15-47-04.jpg)](https://wiki.racarla.es/uploads/images/gallery/2025-04/photo-2023-12-14-15-47-04.jpg)  
[![1744047006191_rot.jpg](https://wiki.racarla.es/uploads/images/gallery/2025-04/scaled-1680-/1744047006191-rot.jpg)](https://wiki.racarla.es/uploads/images/gallery/2025-04/1744047006191-rot.jpg)

<table border="1" id="bkmrk-ma-mot-dc-dir-%2B-%28roj" style="border-collapse: collapse; width: 100%; border-width: 1px;"><colgroup><col style="width: 50.0618%;"></col><col style="width: 50.0618%;"></col></colgroup><tbody><tr><td>MA

</td><td>MOT DC DIR + (ROJO)</td></tr><tr><td>MB</td><td>NONE</td></tr><tr><td>MC</td><td>MOT DC DIR - (NEGRO)</td></tr><tr><td>GND</td><td>NONE</td></tr><tr><td>GND</td><td>GND 48V FILT (NEGRO)</td></tr><tr><td>HVIN</td><td>POS 48V FILT (ROJO)</td></tr><tr><td>GND</td><td>VOUT- TRACO DC-DC 5V</td></tr><tr><td>5VIN</td><td>VOUT+ TRACO DC-DC 5V</td></tr><tr><td>GND</td><td>NONE</td></tr><tr><td>PAI1-</td><td>NONE</td></tr><tr><td>PAI1</td><td>NONE</td></tr><tr><td>GND</td><td>DB9 RS-232 (MARRÓN) PIN 5 GND</td></tr><tr><td>PDO1</td><td>NONE</td></tr><tr><td>PDO2</td><td>NONE</td></tr><tr><td>PDO3</td><td>NONE</td></tr><tr><td>GND</td><td>NONE</td></tr><tr><td>PDI1</td><td>NONE</td></tr><tr><td>PDI2</td><td>END STOP DIR LEFT (AMARILLO)</td></tr><tr><td>PDI3</td><td>END STOP DIR RIGHT (ROJO)</td></tr><tr><td>GND</td><td>END STOP DIR GND (AZUL Y MARRÓN)</td></tr><tr><td>PDI4-</td><td>NONE</td></tr><tr><td>PDI4</td><td>NONE</td></tr><tr><td>PDI5-</td><td>NONE</td></tr><tr><td>PDI5</td><td>NONE</td></tr><tr><td>RX</td><td>DB9 RS-232 (VERDE) PIN 3 RX</td></tr><tr><td>TX</td><td>DB9 RS-232 (AMARILLO) PIN 2 TX</td></tr><tr><td>GNDI (CAN GND)</td><td>ENC CAN DIR GND (MARRÓN) + CABLE COM CAN CONECTOR NEGRO TRASERO</td></tr><tr><td>CNL (CAN L)</td><td>ENC CAN DIR CAN L (VERDE) + CABLE COM CAN CONECTOR NEGRO TRASERO</td></tr><tr><td>CNH (CAN H</td><td>ENC CAN DIR CAN H

(AMARILLO) + CABLE COM CAN CONECTOR NEGRO TRASERO

</td></tr><tr><td>H-A</td><td>NONE</td></tr><tr><td>H-B</td><td>NONE</td></tr><tr><td>H-C</td><td>NONE</td></tr><tr><td>ENI-</td><td>ENC MOT DC - CH -Z (AZUL)</td></tr><tr><td>ENI</td><td>ENC MOT DC - CH Z (NARANJA)</td></tr><tr><td>ENB-</td><td>ENC MOT DC - CH -B (VERDE)</td></tr><tr><td>ENB</td><td>ENC MOT DC - CH B (ROJO)</td></tr><tr><td>ENA-</td><td>ENC MOT DC - CH -A (AMARILLO)</td></tr><tr><td>ENA</td><td>ENC MOT DC - CH A (MARRÓN)</td></tr><tr><td>GND</td><td>ENC MOT DC - GND (NEGRO)</td></tr><tr><td>5V-O</td><td>ENC MOT DC - VCC (5V) (BLANCO)</td></tr></tbody></table>

***CONVERTIDOR DC-DC***

Modelo TRACO POWER TEN 15-2411WI

Este controlador también necesita un convertidor DC-DC para ser alimentado a 5V, este está alimentado a los 24V que entran en la caja y está conectado a la entrada 5IN y GND.

[  
![1744047006200_mod.jpg](https://wiki.racarla.es/uploads/images/gallery/2025-04/scaled-1680-/1744047006200-mod.jpg)](https://wiki.racarla.es/uploads/images/gallery/2025-04/1744047006200-mod.jpg)