Wiring the Unit

this document will provide an overview on how nanodrive 4lpi units should be wired and includes pinouts for the unit to ensure the nanodrive 4lpi is not damaged during integration, we recommend any soldering carried out on the unit to be performed by trained or experienced individuals pinout port number description 1 positive battery terminal 2 negative battery terminal 3 control signal dshot / pwm connector jst gh 6 pin 4 power and bus voltage/current flight computer connector hirose df13 6 shared with (12, 13, 14) 5 motor 4 phases 6 motor 1 phases 7 motor 3 phases 8 motor 2 phases 9 control signal can with passthrough 10 motor 1 temperature sensor 11 motor 4 temperature sensor 12 battery current analogue monitoring (0 3 3v) 13 battery voltage analogue monitoring (0 3 3v) 14 power 5 4v 2 5a, shared with (4) 15 control signal dshot / pwm 16 drive disable (active high, pull to ground to enable drive with the secondary arming switch) 17 control signal can 18 motor 2 temperature sensor 19 motor 3 temperature sensor dshot / pwm control signal connector this connector pins are shared with the pads labelled “t”, “4”, “3”, “2”, “1” connector used jst bm06b ghs tbt(lf)(sn) mates with jst ghr 06v s dshot / pwm esc 4 dshot / pwm esc 3 dshot / pwm esc 1 dshot / pwm esc 2 telemetry ground 5 4v, 2 5a power output and monitoring connector this connector pins are shared with the pads labelled “5v”, “i”, “v” connector used hirose df13c 6p 1 25v(50) mates with hirose df13 6s 1 25c housing 5 4v output 5 4v output analogue battery current monitoring analogue battery voltage monitoring ground ground can bus connector this connector pins are shared with the pads labelled “h”, “l” connector used jst bm04b ghs tbt mates with jst ghr 04v s no connect (passthrough) can high can low can ground port and pin tolerances the nanodrive 4lpi may be damaged if the voltages tabulated below are exceeded port/pin max current (ma) abs max voltage (v) abs min voltage (v) passive loading main bus (v bus₎) — 35 0 4 — motor phases — v bus + 0 6 0 4 — gnd 200 gnd gnd direct connection to gnd can h, can l 115, differential mode gnd + 12 gnd 12 solderable 120 ohm termination can dis 1 gnd + 3 6 gnd 0 3 open drain input pulled to 3 3 v via 10 kohm resistor motor sensing 1 gnd + 3 6 0 3 open drain input pulled to 3 3 v via 10 kohm resistor sig 1 4 10 gnd + 5 5 gnd 0 3 driven to 3 3 v during bidirectional dshot with 100 ohm impedance gnd 200 gnd gnd direct connection to gnd tlm 10 gnd + 5 5 gnd 0 3 open drain output pulled to 3 3 v via 10 kohm resistor gnd 200 gnd gnd direct connection to gnd v in 1 gnd + 3 3 gnd 0 3 10 kohm output impedance, 11 1 i in 1 gnd + 3 3 gnd 0 3 2 7 kohm output impedance, 200 1 wiring diagram it is imperative that the wiring to the battery is kept as short as possible we recommend that 12 14 awg wire is used and the length is no longer than 1m nanodrive 4lpi can wiring there are two primary methods of wiring can nodes, either as a bus or as a star network (stubs) if stubs are used, keeping the stub length below 1m is important (the dronecan specification recommends a maximum of 0 3 m \[11 8 in] ) both the castellated pads labelled “d”, “h”, “l” and “g”, and the two can connectors can be used for can connection use twisted pair wire with 120 ohm impedance the nanodrive 4lpi has a built in, optional can termination this can be enabled by bridging these two terminals together with a bead of solder, or with a 0603 resistor nanodrive 4lpi dshot pins “1”, “2”, “3”, “4” corresponds to the dshot input of each respective esc and should be connected to the flight computer the “t” pin outputs telemetry battery current monitoring the “i” terminal provides a means of monitoring the battery current this output provides an analogue output between 0v and 3 3v when the nanodrive 4lpi draws zero current, this output will be at 1 65v a voltage higher than 1 65v indicates current flowing into the nanodrive while a voltage less than 1 65v means current flowing out of the nanodrive the voltage at the “i” terminal is related to the battery current with the formula below 1 65 + 0 05 i bus = v{i mon} where i bus is the bus current a positive i bus indicates the connected motors drawing current a negative i bus indicates the motors are regenerating into the battery terminal v{i mon} is the measured voltage between the “i” and “g” terminals battery voltage monitoring the “v” terminal is used for analogue monitoring of battery voltage the relationship between the voltage between the “v” and “g” terminals is shown below v bus / 11 = v{v mon} where v bus is the bus voltage v{v mon} is the voltage between the “v” and “g” terminals motor temperature sensor solder the motor temperature sensor of ntc/pt100/pt1000 type between the “m” and the “g” terminal next to it refer to link for instructions on how to configure the temperature sensor in firmware 5 4v supply to peripherals see below for instructions secondary arming switch connect a switch between the “d” and “g” pads, pulling the “d” pad to ground will enable drive when the secondary arming switch feature is enabled