Ratings and limits¶

Electrical¶

	Value
Supply voltage	12 to 29 V DC, 24 V typical
Vbus error limits (firmware)	below 9 V or above 29 V (`#Vmax`, 29000 mV after `#Default`)
Phase current, continuous	1.5 A typical
Phase current, maximum	2.8 A; needs good cooling and short bursts. `#Ilim` is clamped to 2800 mA; Send_Limits over CAN is not clamped
Current limit, default	1700 mA after `#Default`; calibration leaves it at 1600 mA
Power, maximum	80 W
Power, idle	0.3 W
PWM frequency	25 kHz
Control loop frequency	6250 Hz
Electrical frequency, maximum	600 Hz
Current sensing	inline, both phases
Encoder	14-bit magnetic, 16384 ticks per revolution, diametrical magnet 1 mm above the chip
UART	3.3 V, 256000 baud by default (1 000 000 tested)
CAN	CAN 2.0, 1 Mbit/s, 11-bit identifiers, node IDs 0 to 13 (the bootloader reserves 14 and 15), 120 Ω termination by switch
Thermistor input	100 kΩ NTC, 54.9 kΩ pull-down
ADDITIONAL2	analog input or general-purpose input/output, 3.3 V
Driver stage protection	not monitored: the firmware reads no fault output of the driver stage, and its driver error flag stays 0

Polarity

Reversing the polarity on DC+ and DC− destroys the board.

	Value
Operating temperature of the board	−20 to 130 °C
Motor temperature limit (firmware, with the thermistor)	75 °C by default (`#Tlim`), −20 °C minimum

	Value
Dimensions	39 × 39 mm
Mass	8 g
Mounting	the NEMA 17 pattern, 31 mm hole spacing; NEMA 23 motors with the NEMA 23 spacer, other frames with an adapter you make

	Value
Position	signed 24-bit over CAN (±8.4 million ticks, ±512 revolutions), 32-bit internally
Speed	signed 24-bit over CAN, encoder ticks per second
Current setpoint	signed 16-bit over CAN, mA
Pole pairs accepted by calibration	50, 75, 100 or 125
Configuration	kept in the EEPROM with `#Save` / `Send_Save_config`

The defaults of every setting are listed in the Defaults reference.