moteus r4.11 developer kit

This is the developer's kit for the moteus r4.11 brushless servo controller.

Specifications for the moteus controller (also available for purchase separately): 

• 3 phase brushless FOC based control
• Voltage Input: 10-44V (<=10S)
• Temperature: -40-85C
• Peak Phase Current: 100A
• Continuous phase current: 12A / 32A (w/o and w/ thermal management)
  
• Peak Electrical Power: 900W @ 30V
  
• Mass: 14.2g
  
• Control rate: 15-30kHz
  
• PWM switching rate: 15-60kHz
• 170 MHz 32 bit STM32G4 microcroprocessor
  
• Max electrical frequency: 2kHz
  
• Dimensions: 46x53mm - 2D CAD drawing / STEP file
• Communications: 5Mbps CAN-FD
  
• Power Connector: 2x XT30PW-M
  
• Data Connector: 2x JST PH-3
• 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
• 2 mating XT30 connectors, 2 mating JST-PH3 housings with crimp terminals, and a 1/4" diametrically magnetized magnet

Accessories:

• Thermal performance can be improved with either a 5V fan or a heat spreader. Estimated performance can be seen here: mpat moteus cooling analysis
• Daisy chain CAN-FD wiring: JST PH3 cables / Termination resistors

Documentation is available in github and youtube: 

• User Manual
• Video tutorial for using the developers kit (and tview)
• EC declaration of conformity