moteus-x1 developer kit
This is the developer's kit for the moteus-x1 brushless servo controller. Specifications for the moteus-x1 controller (also available for purchase separately): 3 phase brushless FOC based control Voltage Input: 10-54V (<=12S) Temperature: -40-85C Peak phase current: 120A Continuous phase current: 25A / 60A (w/o and w/ thermal management) Peak Electrical Power: 1.3kW @ 36V Mass: 23.7g Control rate: 15-30kHz PWM switching rate: 15-60kHz 170 MHz 32 bit STM32G4 microcroprocessor Max electrical frequency: 3kHz Dimensions: 56x56x10mm - 2D CAD (pdf) / 3D Model (STEP) Board Mountable: Power, CAN, motor, 12V fan, thermistor, and AUX2 Communications: 5Mbps CAN-FD Power Connector: XT30PW-M Data Connector: 2x JST PH-3 Auxiliary connectors (JST GH7/8) with: SPI, UART, GPIO, ADC, Quadrature, Hall, and I2C support RS422 connector (JST GH6) 3.3V/150mA and 5V/200mA power available for external peripherals Open source firmware (Apache 2.0): https://github.com/mjbots/moteus In addition, this is a development kit that includes everything you need to power up and evaluate the controller: An mj5208 motor Bracket to mount the moteus controller to the motor Desk stand to hold the motor and controller - STL file 24V 5A power supply with universal input voltage range and XT30U-F connector. A US plug to IEC C13 cable is included, any C13 cable could be used in other countries. mjcanfd-usb-1x w/ USB cable JST PH-3 cable for CAN communication USB STM32 programmer w/ moteus JST ZH-6 connector 1 mating XT30 connector, 1 mating JST-PH3 housing with crimp terminals, and a 6mm diametric disc magnet Optional accessories: Daisy chain CAN-FD wiring: JST PH3 cables / Termination resistors Auxiliary port connector housings are available: GH6 (for RS422), GH7 (for AUX2), GH8 (for AUX1) and pre-crimped wire terminals for all GH connector housings A heat spreader can be used to improve thermal performance Documentation is available in github and youtube: Getting Started Guide Reference Manual Video tutorial for using the developers kit (and tview)