The A100S was designed specifically for use in Featherweight and Heavyweight combat robots, but can also be used in all general robotics applications thanks to it's extreme power density.
It runs the extremely popular VESC®*-Project firmware.
Featherweight Weapon - Slice of LiFe (Blue)
12S A100S with XAG A16 motor
Heavyweight Drive - The Last Slice
12S A100S with XAG A20 motor
Included in the package
- A100S V4
- LCC40 motor connector with crimp pins for 10-12AWG
- LCB40 battery connector with crimp pins for 10-12AWG
- Pico-clasp 20pin connector shell + 10 double-ended precrimped wires (enough to populate the connector when cut in half)
Quick tips on setup
- We recommend detecting motors using the FOC motor setup wizard. This will automatically find the correct settings for your motor.
Current Handling - Motor current
- 70A (motor) continuous with no additional cooling
- 200A (motor) burst
120A, 0.7C/s
150A, 1.2C/s
180A, 2.3C/s
200A, 2.7C/s
Mechanical Features
- Dimensions: 55 x 45 x 28mm without connectors, (screw lugs make it 60x54x27mm)
- Weight ~?g
- 3D models avaliable here: ?
Electrical Features
- CANBus
- Voltage filters, 3 phase shunts with current filters
- 2mm 6Layer 2OZ PCB
- EFuse Protected supply outputs
- 12V 1.6A -AUX Switchable output
- 5V 1.0A -Always ON
- 3.3V 0.5A -Always ON
- I/O protected by TVS
- USB can be used to power logic for offline programming (1A Efused)
- Logic can be powered from extra AUX Power input 12-48V, ?W idle
- EEPROM for persistent data
Electrical Connections
- All in one 20pin Pico-Clasp locking connector provides all standard interfaces - PPM, CANBus, ADC, UART, Hall sensors, 12V Switchable Aux output, 5V, 3.3v, SPI, Buttons, Encoder, Motor Temperature, Aux power input (12-48V), Enable
- USB Type C for connection to VESC-Tool, SWD programming on SBU pins.
Motor Commutation Modes
- FOC - Sensorless, Hall Sensors, HFI
- BLDC - Sensorless, Hall Sensors
- DC - For driving brushed DC motors on outputs A and C.
Motor Control Modes
- Current - Controls current (torque) to motor irrespective of duty cycle
- Duty Cycle - Controls duty cycle sent to motor irrespective of current
- PID RPM control - Controls motor RPM using a PID loop
Control Interfaces
- PPM
- UART
- CANBus (supports UAVCANv0)
- ADC
Voltage Rating
- 8-80v, 18 cell LiPo maximum.
Safety Features
- Active current limiting - actively limits motor current to stay below programmed limit
- Software over current protection - stops motor running if the current exceeds programmed limit
- Slow temperature cutoff - ramps down motor current when approaching programmed max temperature
- Battery voltage cutoff - ramps down motor current when approaching programmed voltage cutoff
- Under / Over Voltage cutoff - stops motor running if the voltage goes outside the programmed range
Programming features - using VESC®* Tool
- Adjustable current limits, Battery and Motor current are independently controlled
- Adjustable voltage limits
- Adjustable RPM limits
- Adjustable Power limits
- Adjustable duty cycle limits
- Adjustable regenerative braking
- Adjustable throttle curves and ramping time
- Real time and Sampled Data monitoring and graphing
- Automatic motor detection and tuning
Motors tested
- XAG A16
- XAG A20
The A100S runs the popular VESC®*-Project firmware by Benjamin Vedder.
* VESC is a registered TM, owned by Benjamin Vedder