Ratings and limits¶

Electrical¶

	Value
Supply voltage	12 to 29 V DC, 24 V typical; 10 V absolute minimum
Vbus error limits (firmware)	below 9 V or above `#Vmax`, 29 V after `#Default`
Phase current, continuous	1.5 A typical
Phase current, maximum	2.8 A (`#Ilim` is clamped to 2800 mA; Send_Limits over CAN is not, so never send more); needs good cooling and short bursts
Power, maximum	80 W
Power, idle	0.3 W
PWM frequency	25 kHz
Control loop frequency	5 kHz
Electrical frequency, maximum	500 Hz
Current sensing	inline, on two 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 (14 and 15 are reserved by the bootloader), 120 Ω termination by switch
Thermistor input	100 kΩ NTC, 54.9 kΩ pull-down
PIN	analog input or general-purpose input/output, 3.3 V
Driver stage protection	hardware overcurrent (trips at 3 to 5 A), undervoltage lockout (6.3 to 8 V) and thermal shutdown (150 to 180 °C); shown as a driver error

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	four holes on the NEMA 17 pattern, 31 mm apart; the encoder chip in the middle of the board

	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
Motors the calibration defaults are made for	a phase resistance of 2 to 24 Ω
Configuration	kept in the EEPROM with `#Save` / `Send_Save_config`

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