Hardware Specifications

CAD and Models

Name	2D CAD	3D Model
moteus-c1	2D CAD	STEP
moteus-r4	2D CAD	STEP
moteus-x1	2D CAD	STEP
moteus-n1	2D CAD	STEP

Electrical Limits

Name	Min Voltage	Nominal	Abs Max Voltage	Peak Output	3V Aux	5V Aux	12V Aux
moteus-c1	10V	24V	51V (<= 12S)	20A	50mA	100mA	N/A
moteus-r4	10V	24V	44V (<= 10S)	100A	100mA	N/A	N/A
moteus-x1	10V	24V	54V (<= 12S)	120A	100mA	200mA	150mA
moteus-n1	10V	24V	54V (<= 12S)	100A	100mA	200mA	N/A

Power Limits

The allowable maximum power for each moteus controller depends upon the input voltage and PWM switching frequency. The below table gives the maximum allowable power at servo.pwm_rate_hz=30000.

Name	Peak power		High input power
moteus-r4	<= 30V 900W	linear derated	>= 38V 400W
moteus-c1	<= 28V 250W	linear derated	>= 41V 150W
moteus-n1	<= 36V 2000W	linear derated	>= 44V 1000W

For other values of servo.pwm_rate_hz, the allowable maximum power changes linearly with the PWM rate, so that at 15000, the maximum power is half of that in the above table and at 60000 it is double that. Note however, that efficiency of the controller goes down significantly at higher PWM rates.

The current power limit is reported in servo_stats.max_power_W. The controller will attempt to limit output phase current so as to stay within this reported power limit in either direction, i.e. applying power or regenerating energy.