IQ2306 Position Module IQ2306 Position Module 1 Features Low power position control Precise to 0:022 4.8% more shaft power than same sized motors Built-in minimum jerk trajectory generator Multi-turn position control with tunable PID Voltage controller PWM controller Coast and brake modes No minimum speed Built-in linear motion conversion Silent motion Immediate reversibility Backdrivable 3 Description Regenerative braking Active freewheeling The IQ2306 Position Module is an integrated motor 1 and controller with a wide range of position based ap- Current limiter plications. Its performance is comparable to or better Temperature limiter than other 2306 sized (NEMA 11, 28mm stepper) mo- Serial (UART) w/ access to control parameters tors and can operate at any speed between -4,800 and 4800 RPM thanks to its sensored control. Its closed- (Optional) 1-2ms PWM loop PID controller tracks targets across multiple rev- (Optional) Oneshot (42, 125) olutions, making it ideal for applications with trans- (Optional) MultiShot missions, both rotary and linear. This sits on top of a voltage controller, which compensates for varying (Optional) DShot (150-1200) (autodetect) input voltages. Finally, the core is a raw PWM con- (Optional) Step/direction input troller. Any of the above controllers can be used by (Optional) Anticogging torque ripple reduction the user. The IQ2306 Position Module has a built-in rotary to linear calculation converter, which allows the user to communicate to the rmware in native 2 Applications linear units. The onboard minimum jerk trajectory generator with 32 segment queue produces smooth, Robotics human like motions with minimal computation and Gimbals communication overhead from the application con- troller. CNC machines 3D printers Laboratory devices Automated manufacturing machinery Haptic devices Hobby/Maker devices 1 Estimated, 20% 3 DESCRIPTION 1/9 c 2019 IQinetics Technologies Inc.IQ2306 Position Module 4 Motor Speci cations Description Symbol Value Unit Notes Speed Constant K 180 RPM=V v 1 Torque/EMF Constant K 0.053 N m A t Resistance R 4.7 25 C Mass m 37.4 g Without wires/accessories Continuous Torque 65 N mm 25 C ambient c Continuous Torque 130 N mm In air ow, 25 C ambient c Continuous Current I 1.3 A Motor current, 25 C ambient S Continuous Current I 2.5 A Motor current, in air ow, 25 C ambient S Pulsed Current I 5.3 A Maximum supply voltage limited SP 1 No Load Speed 199 rad s V = 10 V 0 CC No Load Current I 0.02 A V = 10 V 0 CC 5 Electrical Speci cations Description Symbol Min Max Unit Notes Supply Voltage V 5 25.2 V Designed for 2S-6S LiPo, use with caution on 6S CC Digital Logic Voltage V -0.3 7.3 V 3:3 V system, 5 V tolerant L Temperature T -20 105 C 6 Electrical Interface Figure 1: JR Servo Communication Connector c 2019 IQinetics Technologies Inc. 2/9 6 ELECTRICAL INTERFACE