iq2306 position module 1 features - storage.googleapis.com · iq2306 position module iq2306...

IQ2306 Position Module


1 Features

• Low power position control

• Precise to 0.022

• 4.8% more shaft power than same sized motors

• Built-in minimum jerk trajectory generator

• Multi-turn position control with tunable PID

• Voltage controller

• PWM controller

• Coast and brake modes

• No minimum speed

• Built-in linear motion conversion

• Silent motion

• Immediate reversibility

• Backdrivable

• Regenerative braking

• Active freewheeling

• Current limiter1

• Temperature limiter

• Serial (UART) w/ access to control parameters

• (Optional) 1-2ms PWM

• (Optional) Oneshot (42, 125)

• (Optional) MultiShot

• (Optional) DShot (150-1200) (autodetect)

• (Optional) Step/direction input

• (Optional) Anticogging torque ripple reduction

2 Applications

• Robotics

• Gimbals

• CNC machines

• 3D printers

• Laboratory devices

• Automated manufacturing machinery

• Haptic devices

• Hobby/Maker devices

1Estimated, ±20%

3 Description

The IQ2306 Position Module is an integrated motorand controller with a wide range of position based ap-plications. Its performance is comparable to or betterthan other 2306 sized (NEMA 11, 28mm stepper) mo-tors and can operate at any speed between -4,800 and4800 RPM thanks to its sensored control. Its closed-loop PID controller tracks targets across multiple rev-olutions, making it ideal for applications with trans-missions, both rotary and linear. This sits on top ofa voltage controller, which compensates for varyinginput voltages. Finally, the core is a raw PWM con-troller. Any of the above controllers can be used bythe user. The IQ2306 Position Module has a built-inrotary to linear calculation converter, which allowsthe user to communicate to the firmware in nativelinear units. The onboard minimum jerk trajectorygenerator with 32 segment queue produces smooth,human like motions with minimal computation andcommunication overhead from the application con-troller.

3 DESCRIPTION 1/9 c©2019 IQinetics Technologies Inc.


4 Motor Specifications

Description Symbol Value Unit NotesSpeed Constant Kv 180 RPM/VTorque/EMF Constant Kt 0.053 N m A−1

Resistance R 4.7 Ω 25CMass m 37.4 g Without wires/accessoriesContinuous Torque τc 65 N mm 25C ambientContinuous Torque τc 130 N mm In airflow, 25C ambientContinuous Current IS 1.3 A Motor current, 25C ambientContinuous Current IS 2.5 A Motor current, in airflow, 25C ambientPulsed Current ISP 5.3 A Maximum supply voltage limitedNo Load Speed ω0 199 rad s−1 @VCC = 10 VNo Load Current I0 0.02 A @VCC = 10 V

5 Electrical Specifications

Description Symbol Min Max Unit NotesSupply Voltage VCC 5 25.2 V Designed for 2S-6S LiPo, use with caution on 6SDigital Logic Voltage VL -0.3 7.3 V 3.3 V system, 5 V tolerantTemperature T -20 105 C

6 Electrical Interface

Figure 1: JR Servo Communication Connector

c©2019 IQinetics Technologies Inc. 2/9 6 ELECTRICAL INTERFACE


6.1 Communication Wiring

The standard communication connector is a JR type servo connector with 15cm of wire. These connectorshave 0.1in spacing and can be inserted into standard perfboard and breadboards with a 3x1 0.1in male-to-male header. Black is minus (ground). Red is motor controller TX (host RX) and telemetry output. Whiteis motor controller RX (host TX) and pwm input.

6.2 Supply Wiring

Power is transmitted to the IQ2306 Position Module via the two supplied 16 AWG (1.31 mm2), siliconeencased, 15cm long wires. Black is minus (ground). Red is positive.

6 ELECTRICAL INTERFACE 3/9 c©2019 IQinetics Technologies Inc.


7 Mechanical Interface

16

2.4

37.8

14

M5 9

16 19

4x M3 3.5 7.2

4.8

21.3

21.4

2.7.8

4x M2 3.7

28.4

99

9

c©2019 IQinetics Technologies Inc. 4/9 7 MECHANICAL INTERFACE


8 Motor Performance

0

10

20

30

40

50

60

70

80

90

100

Eff

icie

ncy

(%)

0

0.01

0.02

0.03

0.04

0.05

0.06

Mec

hani

cal P

ower

(W

)

0 0.002 0.004 0.006 0.008 0.01Torque (Nm)

0

36

72

108

144

180Sp

eed

(RPM

)

Motor Performance @ 1V Commanded

0

10

20

30

40

50

60

70

80

90

100

Eff

icie

ncy

(%)

0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Mec

hani

cal P

ower

(W

)

0 0.005 0.01 0.015 0.02 0.025 0.03Torque (Nm)

0

120

240

360

480

600

Spee

d (R

PM)


8 MOTOR PERFORMANCE 5/9 c©2019 IQinetics Technologies Inc.


0

10

20

30

40

50

60

70

80

90

100

Eff

icie

ncy

(%)

0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

2M

echa

nica

l Pow

er (

W)

0 0.01 0.02 0.03 0.04 0.05 0.06Torque (Nm)

0

240

480

720

960

1200

Spee

d (R

PM)


0

10

20

30

40

50

60

70

80

90

100

Eff

icie

ncy

(%)

0

0.5

1

1.5

2

2.5

3

3.5

4

4.5

Mec

hani

cal P

ower

(W

)

0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1Torque (Nm)

0

360

720

1080

1440

1800

Spee

d (R

PM)


c©2019 IQinetics Technologies Inc. 6/9 8 MOTOR PERFORMANCE


0

10

20

30

40

50

60

70

80

90

100

Eff

icie

ncy

(%)

0

1

2

3

4

5

6

7

8

Mec

hani

cal P

ower

(W

)

0 0.02 0.04 0.06 0.08 0.1 0.12Torque (Nm)

0

500

1000

1500

2000

2500

Spee

d (R

PM)


0

10

20

30

40

50

60

70

80

90

100

Eff

icie

ncy

(%)

0

2

4

6

8

10

12

Mec

hani

cal P

ower

(W

)

0 0.02 0.04 0.06 0.08 0.1 0.12Torque (Nm)

0

600

1200

1800

2400

3000

Spee

d (R

PM)




0

10

20

30

40

50

60

70

80

90

100

Eff

icie

ncy

(%)

0

2

4

6

8

10

12

14

16

18M

echa

nica

l Pow

er (

W)

0 0.02 0.04 0.06 0.08 0.1 0.12Torque (Nm)

0

700

1400

2100

2800

3500

Spee

d (R

PM)


0

10

20

30

40

50

60

70

80

90

100

Eff

icie

ncy

(%)

0

5

10

15

20

25

Mec

hani

cal P

ower

(W

)

0 0.02 0.04 0.06 0.08 0.1 0.12Torque (Nm)

0

800

1600

2400

3200

4000

Spee

d (R

PM)


c©2019 IQinetics Technologies Inc. 8/9 8 MOTOR PERFORMANCE


0

10

20

30

40

50

60

70

80

90

100

Eff

icie

ncy

(%)

0

5

10

15

20

25

30

35M

echa

nica

l Pow

er (

W)

0 0.02 0.04 0.06 0.08 0.1 0.12Torque (Nm)

0

900

1800

2700

3600

4500

Spee

d (R

PM)



iq2306 position module 1 features - storage.googleapis.com · iq2306 position module iq2306...

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