moteus-c1

The moteus-c1 brushless controller turns a hobby brushless motor into a high performance servo actuator for low-cost and low-power systems.  It integrates the necessary drive electronics, a high performance 32 bit microcontroller, an absolute magnetic encoder, and a high-speed data interface in a compact package.

Specifications: 

• 3 phase brushless FOC based control
• Voltage Input: 10-51V (<=12S)
• Temperature: -40-85C
• Peak phase current: 20A
• Continuous phase current: 5A / 14A (w/o and w/ thermal management)
• Peak Electrical Power: 100W
• Mass: 8.9g
  
• Control rate: 15-30kHz
  
• PWM switching rate: 15-60kHz
• 170 MHz 32 bit STM32G4 microcroprocessor
  
• Max electrical frequency: 3kHz
  
• Dimensions: 38x38x9mm - CAD drawing / STEP file
• Board Mountable: Power, CAN, Motor, and AUX2
  
• Communications: 5Mbps CAN-FD
  
• Power Connector: XT30PW-M
  
• Data Connector: JST PH-3
• Auxiliary connectors (JST GH7) with: SPI, UART, GPIO, ADC, Quadrature, Hall, and I2C support
• 3.3V/50mA and 5V/100mA power available for external peripherals
  
• Open source firmware (Apache 2.0): https://github.com/mjbots/moteus

Each controller also has included 1 mating XT30 connector, 1 mating JST-PH3 housing with crimp terminals, and a 1/4" diametrically magnetized magnet.

Accessories:

• A developer kit is also available.  It includes a mj5208 motor, mjcanfd-usb-1x TODO, PH3 cable, and a power supply.
• Daisy chain CAN-FD wiring: JST PH3 cables / Termination resistors
  
• Auxiliary port connector housings are available: GH7 (for AUX2) and pre-crimped wire terminals for all GH connector housings

Documentation is available in github and youtube: 

• Getting Started Guide
• Reference Manual
• Video tutorial for using the developers kit (and tview)