Wiring PWM cables
Introduction
The MR-CANHUBK344 sends PWM signals to the Motor controller and also to the Servo. These are standard RC Model type PWM connections. It is important to get the positions correct on the header as the PWM signal timings are different between the motor and the steering servo. Also note that the steering servo gets powered from the +5V that is PROVIDED by the motor PWB connection on the PDB board.
There is a PDB V2 board that will replace these three individual cables with a single integrated cable and an adapter board. Please look for this upgrade in the near future.
PWM cable wiring to MR-CANHUBK344
The PWM cables that connect between the MR-CANHUBK344 board and the Power Distribution Board should look like this. Two of them are Female-Female and one is Male-Female.
Servo cable color code
Note that an extension cable is used for the servo PWM. The cable on the servo changes to the the alternative coloring as shown in the table below.
The cable color coding is as follows:
| Wire color | Signal | Alternative Color |
|---|---|---|
White | PWM | Yellow |
Red | + 5V | Red |
Black | (-) GND | Brown |
EXTRA CARE NEEDED
The PWM cable must be oriented so that the white signal wire is connection the pin labelled (S) on the MR-CANHUBK344.
Please be extra careful that the PWM cables are wired correctly and with the correct polarity. Damage to the board could result from incorrect connection.
The wite wire should be "inboard" on the PCB. The black ground wire will be closest to the outboard edge of the PCB.
Steering Servo PWM cable connection
The PWM cable that connects to the servo must be connected to PWM 0 of the MR-CANHUBK344. This is the PWM header CLOSEST to the side of the board with the CAN connectors.
This is depicted in the following GIF:
Motor control PWM cable connection
<<TODO>> make it more clear which cable is which. There is also a debug procedure that can be added. IF the motor starts running immediately on power up, then PWM 1 and PWM 2 need to be swapped. Confirm - This is when only ONE of the PWMs are connected.
The PWM cables that correspond to the motor throttle (PWM 1) and motor ENB (PWM2) must be connected on the following pins on the PDB:
The other end of the cables must be located in PWM 1 and PWM 2 positions of the MR-CANHUBK344:
The following GIF shows the connection of the three cables:
Power cable from PDB to MR-CANHUBK344
The last cable to connect is the EXTRA LONG power cable from the MR-CANHUBK344 to the Power Distribution Board which looks like this. The normal length power cable can be similarly connected to the NavQPlus
This is how it must be connected to the PDB:
And the other end must be connected to this pin on the MR-CANHUBK344
The following picture depicts the connections in an animated way.
M10 GPS connection
This is the M10 GPS
And this is all the cable connections available for now.
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