User's Manual

Digital Servo Drivers
3.4.8 UART port
MQA-C,D
Signals
RX, TX, GND
Modes
full-duplex, serail port for motor control and setup, 115200 - 1250000
baud
Protocol
Binary
3.4.9 CAN port
MQA-C,D
Signals
CANH, CANL, GND
Insulation
Optically insulated power and interface circuits +5 Vdc CAN
Format
conforming to the CAN V2.0b physical layer for high speed connections
Data
in accordance with CANopen CIA DS301
Address selection
dip-switch configurable
Stub
121 ohm selectable
3.4.10 Encoder port
MQA-C,D
Signals A, B, X
Levels 5V
Frequency 4MHz (post quadrature)
Power supply 5V @ 400mA
3.4.11 Digital Halls
MQA-C,D
Type single ended digital, electrical phase-shifted by 120°
Levels U, V, W
Frequency 10kHz
Power supply 5V @ 400mA
3.4.12 Motor connections
MQA-C,D
U, V, W phases three-phase PWM or 2 H bridges output, ungrounded.
Braking dout[0].out can be configured as a brake without the needing of an
external flyback diode.
30 Sirius Electronic Systems s.r.l.