Pinouts¶
moteus-c1¶
moteus-r4¶
moteus-x1¶
moteus-n1¶
Additional Information¶
CAN Termination¶
CAN connections should be terminated by a 120 ohm resistor at both ends of a bus. Some mjbots products have built in termination resistors, such as the pi3hat. The mjcanfd-usb-1x and fdcanusb have a software configurable termination resistor that is by default on. moteus controllers have no termination resistors. For very short runs, the system will work terminated only on one side. However, when runs become longer than 0.5m, you will likely need to terminate both ends. This can be done by crimping a 120 ohm resistor into a JST PH3 connector and connecting it to the open data connector or by purchasing a CAN terminator.
Recommended Mating Hardware¶
| Connector | Mate P/N | Terminal P/N | Pre-crimped Wire |
|---|---|---|---|
| JST PH-3 | PHR-3 | SPH-002T-P0.5L | 10cm, 30cm, 50cm PH3 |
| JST GH-6 | GHR-06V-S | SSHL-002T-P0.2 | 28 AWG 20cm |
| JST GH-7 | GHR-07V-S | SSHL-002T-P0.2 | 28 AWG 20cm |
| JST GH-8 | GHR-08V-S | SSHL-002T-P0.2 | 28 AWG 20cm |
| JST ZH-4 | ZHR-4 | SZH-002T-P0.5 | |
| JST ZH-6 | ZHR-6 | SZH-002T-P0.5 | stm32 programmer |
| AMass XT30 | XT30U-F |
Recommended Low Cost Manual Crimp Tools¶
- JST PH: TU-190-08
- JST ZH: PEBA 1020M
- JST GH: PEBA 1020M
moteus-r4 - Pico-SPOX 6 ENC¶
The ENC/AUX1 connector on moteus-r4 are intended to be populated with a Molex Pico-SPOX 6 connector PN 0874380643, or as an alternate, TE 5-1775444-6.