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Connectors and pinout

The connectors. The motor phases go to U, V, W; the supply to DC+ and DC−.
Figure 3.1: The connectors. The motor phases go to U, V, W; the supply to DC+ and DC−.
Connector Pins Type Cable
Motor U, V, W solder pads, three per phase the motor's own leads, see Wiring the motor
Power, two of them DC+, DC− JST XH, 2 pins Power cable; the second connector feeds the next driver
CAN, two of them CANL, CANH JST ZH, 2 pins CAN cable; the second connector feeds the next driver
UART 3V3, GND, TX, RX JST SH, 4 pins UART cable
Thermistor TERM, 3V3 solder pads the 100 kΩ NTC from the shop or any 100 kΩ NTC, see Thermistor
JTAG 3V3, GND, SWCLK, SWDIO 1.27 mm pads Programming adapter, pressed onto the pads
PIN GND, PIN, 3V3 solder pads your own signal: an analog input or a digital input/output, 3.3 V
HALL 5V, GND, HALL1, HALL2, HALL3 solder pads hall sensors: not implemented in the firmware, see the note below
The pinout. Left the top of the board with the CAN connectors, the motor pads and the termination switch; right the bottom with the UART connector, the power connectors, the thermistor pads and the encoder chip.
Figure 3.2: The pinout. Left the top of the board with the CAN connectors, the motor pads and the termination switch; right the bottom with the UART connector, the power connectors, the thermistor pads and the encoder chip.

Hall sensors are not implemented

The HALL header and the twelve resistor pads above it are on the board for hall-sensor commutation, but the Spectral firmware does not implement it: the magnetic encoder is the only position source. Leave the header unpopulated.

Polarity and orientation

DC+ to the positive supply, DC− to the negative; a cable the wrong way round destroys the driver. The daisy-chain cables have an orientation too: see Power and the CAN daisy chain.

Note

  • UART is TX to RX and RX to TX between the driver and the adapter.
  • The UART port and the PIN header are 3.3 V. 5 V on either destroys the board.
  • The thermistor pin has a 54.9 kΩ pull-down; the firmware's temperature table is for a 100 kΩ NTC.
  • The CAN termination switch is next to the CAN connectors; ON connects the 120 Ω resistor.
  • The encoder chip sits on the bottom of the board, in the middle: that side faces the magnet.

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