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2.2. Connectors pinout
The connectors used in the system on the CANFD side are MOLEX Micro-Fit series 3.0. Both connectors are
connected in parallel for easy daisy-chaining. The connector pinout is presented below:
The colors of the corresponding wires in the Molex socket, as supplied by MAB (looking from the side of the
wires):
2.3. Control modes
TL;DR:
To control the motor sha with the userʼs command MD80 is equipped with multiple control
loops. All controllers are based on a regular PID controller design with an anti-windup block. The saturator
(anti-windup) is an additional module that acts as a limiter to the ʻIʼ part of the controller, as in many
systems, the error integration may grow to very large numbers, completely overwhelming ʻPʼ and ʻDʼ parts of
the controller.
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