qdd100 beta servo

This is the beta version of the mjbots qdd100 quasi-direct drive brushless servo.

Specifications: 

• Torque, measured in ambient 20C lab with no airflow or heatsink until limiting occurs
• Peak: 12.5 Nm (< 1s)
• 10 Nm - 30s
• 6 Nm - 300s
• 2.5 Nm - Indefinite
• Peak speed: 2,000 dps @ 24V
  
• Backlash: +- 0.2 degrees
• Weight: 470g
• Control rate: 40kHz
• Mechanical - CAD drawing 
  • Outer diameter: 100mm
  • M3 fixed mounting bolt pattern on front and back
  • M3 mounting bolt pattern on output with M4 dowels
• Voltage input: 10-34V
• Communication: 5Mbps CAN-FD
• Power connector: 2x XT-30
• Data connector: 2x JST PH-3
• Open source motor driver and firmware with programming port and CAN bootloader: https://github.com/mjbots/moteus

In addition, it contains 2 copies of the XT30 mating connector for power and the JST-PH3 mating connector for data.

The servo is also available in development kit form.

Documentation: 

• Reference documentation
• Current errata: qdd100 beta devkit ERRATA
  

Support / questions: 

• info@mjbots.com
• Discord: https://discord.gg/W4hUpBb
• Torque test: https://www.youtube.com/watch?v=WywqcavLWMs

NOTE: This is a BETA product. There will be rough edges, possibly lots of them. The documentation isn’t great / is non-existent, the firmware has not seen wide use, the hardware may be unreliable, and likely has cosmetic blemishes. You’re OK with that, and don’t mind providing feedback on how the servo works and how it could be improved. Legally, this beta product is provided AS-IS, without any express or implied warranties, including but not limited to warranties of merchantibility, fitness for a particular purpose and non-infringement.