moteus-r5 developer kit

This is the developer's kit for the moteus-r5 brushless servo controller.

Specifications for the moteus-r5 controller (also available for purchase separately): 

• 3 phase brushless FOC based control
• Voltage Input: 10-34V (<=8S)
• Ambient Temperature: -40-85C
• Peak phase current: 100A
• Continuous phase current: 15A / 42A (w/o and w/ thermal management)
• Peak Electrical Power: 600W @ 24V
  
• Mass: 10.2g
  
• Control rate: 15-30kHz
  
• PWM switching rate: 15-60kHz
• 170 MHz 32 bit STM32G4 microcroprocessor
  
• Max electrical frequency: 2kHz
  
• Dimensions: 40x40x9mm - 2D CAD (pdf) / 3D Model (STEP)
• Board Mountable: Power, CAN, motor, thermistor, 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

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 - STL file
• 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
• 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 / JST Junction PCBs
  
• Auxiliary port connector housings are available: GH7 (for AUX2) and pre-crimped wire terminals for all GH connector housings
• Thermal performance can be improved with either a 5V fan, or a heat spreader. Estimated performance can be seen here: mpat moteus cooling analysis
  

Documentation is available in github and youtube: 

• User Manual
• Video tutorial for using the developers kit (and tview)