VOXL 4-in-1 ESC Datasheet

Hardware Overview

	Details
Power Input	2-4S Li-Po (5.5-18V) : M0134-1 and M0134-3 variants
	2-6S Li-Po (5.5-26V) : M0134-6 variant
	XT30 connector (suggested)
Power Output	Single AUX power output at 5.0V (adjustable via resistor) 500mA (can be used for Neopixel LEDs)
Performance	4 channels at 10A+ maximum continuous current per channel (depends on cooling)
	Maximum RPM : 50,000+RPM for a 12-pole motor
Features	Open-loop control (set desired % power)
	Closed-loop RPM control (set desired RPM), used in PX4 driver
	Control LED colors of external LED Strip (Neopixel)
	Generate tones using motors
	Real-time RPM feedback
Communications	Supported by VOXL Flight, VOXL and Flight Core
	Dual Bi-directional UART (3.3VDC logic-level)
	PWM input supporting 1-2ms and OneShot125 (more protocols coming soon)
Connectors	UART: Hirose DF13 6-pin
	PWM Input: JST GH 6-pin
	AUX Regulated Output Connectors: N/A (solder pads)
	Motor Output Connectors: N/A (solder pads)
Hardware	MCU : STM32F051K86 @ 48Mhz, 64KB Flash
	Mosfet Driver : MP6530
	Mosfets : AON7528 (N-channel)
	Individual Current Sensing : 4x 2mOhm + INA186
	ESD Protection : Yes (on UART and PWM I/O)
	Temperature Sensing : Yes
	On-board Status LEDs : Yes
	Weight (no wires) : 9.5g
	Motor Connectors: N/A (solder pads)
PX4 Integration	Supported in PX4 1.12+
	Code
Resources	Manual
	PX4 Integration User Guide

UART Connector J2

Used for UART communication with the ESC
Connector on board : Hirose DF13A-6P-1.25H
Mating connector : DF13-6S-1.25C
Pre-crimped wires : (Digikey) H4BBT-10112-B8 or similar
Connector is compatible with VOXL ESC V1, except V2 board has additional UART2 functionality
3.3V signals (5.0V input is acceptable)

Pin >	1	2	3	4	5	6
Function >	VREF_OUT	UART RX (IN)	UART TX (OUT)	RESERVED	GND	RESERVED

PWM Input / Output Connector J3

Pin >	1	2	3	4	5	6
Function >	VREF_OUT	PWM0	PWM1	PWM2	PWM3	GND

Two independent Neopixel RGB LED outputs are available, up to 32 LEDs each
Use test points labeled IO_0 and IO_3 in the AUX IO section of the ESC
IO_0 and IO_3 are connected to ESC ID0 PB8 and ID3 PB8 respectively (3.3V levels)
VAUX output provides 5.0V output for the LED array
Test tools: voxl-esc-neopixel-test.py
Integration with PX4 is done via voxl_esc driver and modal_io_bridge

Four independent PWM input / output pins are available, one pin per ESC channel
Use J3 connector (pins 2,3,4,5 corresponding to PWM 0,1,2,3)
PWM pin 0 is connected to ESC ID0, PWM1 -> ESC ID1, and so on (3.3V levels)
PWM input enabled in ESC firmware 39.13 or later, PWM output in 39.18 or later
Operating mode of PWM pins
- Default mode of PWM pins is PWM input. In absence of UART communication, PWM pins can be used to control the ESC power using standard PWM signal (1-2ms)
- Upon detecting any UART communication by ESC, PWM input is disabled until power reset
- PWM output can be enabled by sending specific message to the ESC via UART interface
PWM output mode specifications
- 3 frequency modes (50hz, 200hz, 400hz)
- enable or disable timeout (0.5s). If timeout is enabled, PWM output will be disabled (set to low state) after 0.5s of no commands
- output range 0-2200 us with 0.05us resolution, special value of 2201us will force HIGH state (can be used as GPIO)
Test tools: voxl-esc-pwm.py
- this tool can only be used while PX4 is not running, since it needs direct access to the UART port
Integration with PX4 is done via voxl_esc px4 driver and modal-io-server . voxl-send-esc-pwm-cmd
- this tool will send a control message to PX4 (voxl_esc driver) and the driver will forward the PWM command to the ESC