moteus brushless servo

This contains full designs for the moteus brushless servo actuator, including firmware and PCBs.

WARNING: This is not just a software project. It includes designs for moderately high power electronics. It has not yet burned down my (or anyone's that I know of) house, but there are no guarantees.

Specifications

Name	r4.11	c1	n1	x1
Voltage Input	10-44V	10-51V	10-54V	10-54V
Peak Electrical Power	900W @ 30V	250W @ 28V	1.3kW @ 36V	1kW @ 36V
Mass	14.2g	8.9g	14.6g	23.8g
Control Rate	15-30kHz	-	-	-
PWM Switching Rate	15-60kHz	-	-	-
CPU	STM32G4	-	-	-
Uncooled phase current	12A	5A	9A	25A
Cooled phase current	32A	14A	26A	62A
Peak phase current	100A	20A	100A	120A
Communications	5Mbps CAN-FD	-	-	-
Dimensions	46x53mm	38x38x9mm	46x46x8mm	56x56x10mm

Assembled and tested boards can be purchased at: https://mjbots.com

Directory structure

• hw/ - hardware (mechanical and electrical designs)
  • controller/ - PCB design for moteus-r4.11
  • c1/ - PCB design for moteus-c1
  • n1/ - PCB design for moteus-n1
  • x1/ - PCB design for moteus-x1
• fw/ - firmware for brushless controller
• lib/ - client side software
• utils/ - diagnostic tools
• tools/ - bazel build configure
• docs/ - documentation

Documentation

• Quick Start
• All Documentation
• Discord

Misc

• 

How to support moteus development

The easiest way to support development the moteus hardware and firmware is as follows:

1. Buy things from https://mjbots.com
2. Build awesome machines!

That's it! If for some reason you want to go above and beyond, you can sponsor mjbots through github: https://github.com/sponsors/mjbots

License

All files contained in this repository, unless otherwise noted, are available under an Apache 2.0 License: https://www.apache.org/licenses/LICENSE-2.0

Trademark

mjbots Robotic Systems LLC owns and protects the "mjbots" and "moteus" trademarks in many jurisdictions.

If you want to use these names in your project or product, please read the Trademark Policy