The A100S was designed specifically for use in Beatleweight and Featherweight combat robots. It runs the extremely popular VESC®*-Project firmware.
Featherweight Weapon - Slice of LiFe (Blue)
12S A100S with XAG A16 motor
[Video]
Heavyweight Drive - Triforce (Circle)
12S A100S with XAG A16 motor
[Video]
Included in the package
- A100S V4
- LCC40 motor connector with crimp pins for 10AWG
- LCB40 battery connector with crimp pins for 10AWG
- Pico-clasp 20pin connector shell + 10 double ended precrimped wires (enough to populate the connector)
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: 54 x 45 x 27mm 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
- 5V 1.0A
- 3.3V 0.5A
- 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
UPDATE needed:
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
The A100S runs the popular VESC®*-Project firmware by Benjamin Vedder.
* VESC is a registered TM, owned by Benjamin Vedder