VOXL ESC v1 Datasheet (Work in Progress)
Overview
Details | |
---|---|
Input | 2-3 S Li-Po |
XT30 connector | |
Output | 4 channels at 8A maximum continuous current per channel |
Maximum RPM : 17,000RPM for a 12-pole motor (14,500RPM for a 14-pole motor) | |
5VDC Power Regulator Output at 6A supporting VOXL Flight, VOXL and Flight Core | |
Motor Connectors: Hirose DF3-3S-2C | |
Regulated Output Connector: Molex Inc, MPN: 22-05-7045 | |
LED Connector: DF13A- 4P-1.25H(50) | |
Features | Open-loop control (set desired % power) |
Closed-loop RPM control (set desired RPM), used in PX4 driver | |
Control LED colors | |
Generate tones using motors | |
Real-time RPM feedback | |
Communications | Supported by VOXL Flight, VOXL and Flight Core |
Bi-directional UART (5VDC logic-level, 3.3VDC supported) | |
PX4 Integration | Scheduled to be supported in PX4 1.12 |
Available here in developer preview | |
Resources | Manual |
User Guide |
Details
Power Input
- 2-3 S Li-Po
- reverse polarity protection: yes
- on/off switch input : yes
- auxiliary input : yes (only powers ESC MCUs using diode OR, but does not power Mosfets — useful for quick hot-swapping of main battery)
Communication
- All four ESCs communicate via same bi-directional UART port
- boot loader 38400 baud rate, firmware 250000 baud rate (firmware baud rate is adjustable)
- protocol specification
- protocol sample implementation
- I2C communication is available on 4-pin Molex connector and is used only by LTC2946 (supported in PX4 as
voxlpm
driver) - PWM input : not available
5V Power Regulator Output
- 5.15V @ 6A
Performance Specifications
- Commutation Method : 6-step
- Maximum RPM : 17,000RPM for a 12-pole motor (14,500RPM for a 14-pole motor).
- Maximum continuous current per channel: >8A (thermally limited, need to test in specific application)
- Command update rate > 500Hz (500Hz recommended)
Voltage and Current Sensing
- LTC2946 high precision voltage and total current sensing, available via separate i2c
- each MCU on ESC measures it’s own voltage and reports via UART feedback packets
- individual channel current sensing is not available
LEDs
- each ESC has control over a low-power RGB LED. Color can be set via UART interface.
- on-board status LED (blue) for each MCU
Features
- Open-loop control (set desired % power)
- Closed-loop RPM control (set desired RPM)
- Control LED colors
- Generate tones using motors
- Real-time RPM feedback
Board Specifications
- Dimensions: TODO
- MCU: ATMEGA328P @ 20Mhz
- Mosfet type : N + P
- Switching Frequency: 20Khz
Connectors:
- Motor outputs: Hirose DF3-3S-2C
- 5V output : Molex Inc, MPN: 22-05-7045
Board Connections and Pin-out Specifications
VOXL ESC v1 Board Top
VOXL ESC v1 Board Bottom
Motor CHX
- Connector: Hirose DF3-3S-2C
- Mating Connector: DF3-3EP-2C
Pin | Signal Name |
---|---|
1 | CHX_PA_M |
2 | CHX_PB_M |
3 | CHX_PC_M |
J1 - CH2_LED
- Connector: DF13A- 4P-1.25H(50)
- Mating Connector: DF13-4S-1.25C
Pin | Signal Name |
---|---|
1 | GND |
2 | CH2_BLU |
3 | CH2_GRN |
4 | CH2_RED |
J2 - CH3_LED
- Connector: DF13A- 4P-1.25H(50)
- Mating Connector: DF13-4S-1.25C
Pin | Signal Name |
---|---|
1 | GND |
2 | CH3_BLU |
3 | CH3_GRN |
4 | CH3_RED |
J6 - CH4_LED
- Connector: DF13A- 4P-1.25H(50)
- Mating Connector: DF13-4S-1.25C
Pin | Signal Name |
---|---|
1 | GND |
2 | CH4_BLU |
3 | CH4_GRN |
4 | CH4_RED |
J7 - CH1_LED
- Connector: DF13A- 4P-1.25H(50)
- Mating Connector: DF13-4S-1.25C
Pin | Signal Name |
---|---|
1 | GND |
2 | CH1_BLU |
3 | CH1_GRN |
4 | CH1_RED |
J9 - Flight Controller UART
- Connector: Hirose Electric, MPN: DF13-6P-1.25H(50)
- Mating Connector: DF13-6S-1.25C cable assemblies (MCBL-00013)
Pin | Signal Name |
---|---|
1 | NC |
2 | RX (5V, supports 3.3V) |
3 | TX (5V, supports 3.3V) |
4 | NC |
5 | GND |
6 | NC |
J10 - Power Module Output
- Connector: Molex Inc, MPN: 22-05-7045
- Mating Connector: 50-37-5043 based cables, MCBL-00001 (also available here)
Pin | Signal Name |
---|---|
1 | 5VDC |
2 | GND |
3 | I2C_SCL |
4 | I2C_SDA |