Link Search Menu Expand Document

VOXL 4-in-1 ESC Datasheet

Hardware Overview

m0134-diagram.jpg

Dimensions

M0134 VOXL ESC 3D CAD

m0134-dimensions.png

Specifications

 Details
Power Input2-4 S Li-Po (5.5-18V)
 XT30 connector (suggested)
Power OutputSingle AUX power output at 5.0V (adjustable via resistor) 500mA (can be used for Neopixel LEDs)
Performance4 channels at 10A+ maximum continuous current per channel (depends on cooling)
 Maximum RPM : 50,000+RPM for a 12-pole motor
FeaturesOpen-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
CommunicationsSupported 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)
ConnectorsUART: 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)
HardwareMCU : 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 IntegrationSupported in PX4 1.12+
 Code
ResourcesManual
 PX4 Integration User Guide

Connector Information and Pin-outs

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 >123456
Function >VREF_OUTUART RX (IN)UART TX (OUT)RESERVEDGNDRESERVED

PWM Input / Output Connector J3

  • Used for PWM input or output
  • Connector on board : BM06B-GHS-TBT
  • Mating connector : GHR-06V-S
  • Pre-crimped wires : (Digikey) AGHGH28K152 or similar
  • 3.3V signals (5.0V input is acceptable)
Pin >123456
Function >VREF_OUTPWM0PWM1PWM2PWM3GND

Neopixel LED Support

m0134-diagram-neopixel.jpg

  • 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

PWM Inputs / Outputs

  • 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
  • Integration with PX4 is done via voxl_esc px4 driver and modal_io_bridge . test app