moteus-x1

The moteus-x1 brushless controller turns a hobby brushless motor into a high performance servo actuator for low-cost 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: 10-54V (<=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

Each controller also has included 1 mating XT30 connector, 2 mating JST-PH3 housing with crimp terminals, and a 6mm diametric disc magnet.

Optional accessories:

• A developer kit is also available.  It includes a mj5208 motor, mjcanfd-usb-1x, PH3 cable, stm32 programmer, and a 24V/5A power supply.
• 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
• A servo bracket can be used to mount the moteus-x1 to a motor

Documentation is available in github and youtube: 

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