# 2. Micro node hardware
Micro node is the smallest CAN-PWM converter designed to control 1 - 2 ESC or servo with an external power.
Micro node may power the servo, but it is not recommended, since, due to the lack of its own DC-DC, the entire load will go to the device that powers the micro node. If you need to power a servo, it is recommended to look at mini node.
This page is about hardware specific details. For general information, refer to the 1. General page., for software related details please refer Cyphal interface or DroneCAN interface.
|View||Top view||Bot view|
# 2.1. Features
- 2 PWM outputs
- 2 JST SM04B connectors compatible with Dronecode Autopilot Connector Standard (opens new window)
- 2 ampers thrupass current
- Input voltage sensor
- Extra small outline
# 2.2. Wire
Schematic features. Schematic can be provided via issue.
The node has 3 connectors which are described in the table below.
|1||CAN1, CAN2||Devices that deliver power to the bus are required to provide 4.5–5.5 V on the bus power line, 5.0 V nominal. Devices that are powered from the bus should expect 4.5–5.5 V on the bus power line. The current shall not exceed 1 A per connector.|
|2||SWD||STM32 firmware updating using programmer-sniffer.|
|3||PWM1, PWM2||Connectors should be used to deliver signal and power (below 1 amp) to payload such as SERVO or ESC (without power delivery)|
Here you can find manufacturer part number of connectors it self and its mates.
|Type||MP||Suitable Wire Type||MP|
|CAN1||JST SM04B-GHS-TB(LF)(SN)||JST 4-pins cable (opens new window)||JST GHR-04V-S (opens new window) and pin SSHL-002T-P0.2 (opens new window)|
|CAN2||JST SM04B-GHS-TB(LF)(SN)||JST 4-pins cable (opens new window)||JST GHR-04V-S (opens new window) and pin SSHL-002T-P0.2 (opens new window)|
|PWM1||B-2100S03P-A110||Dupont 3-Pin Connector|
|PWM2||B-2100S03P-A110||Dupont 3-Pin Connector|
|SWD||JST SM04B-GHS-TB(LF)(SN)||JST 4-pins cable (opens new window)||JST GHR-04V-S (opens new window) and pin SSHL-002T-P0.2 (opens new window)|
Pin configuration and functions
|Pin N||CAN1, CAN2||SWD||PWM1, PWM2|
|3||CAN Low||SWDIO||PWM1, PWM2|
# 2.3. Specifications
Scheme is shown on the picture below.
|Width, mm||Length, mm||Height, mm|
Total weight of device 3 g (with cable 4.4g)
You can download 3D model on GrabCAD (opens new window)
Absolute Maximum Ratings
|V (CAN1, CAN2)||4.5||5.5||V|
Recommended operating conditions
|V (CAN1, CAN2)||5||V|
|Human-body model (HBM)||2000||V|
|Charged-device model (CDM)||500||V|
# 2.4. Description
Here you can see all connections of MCU.
# Functional Block Diagram
# Connection example diagram
# 2.5. Power Supply Recommendations
The uNODE is designed to operate from an input voltage supply range between 4.5 V and 5.5 V. This input supply must be able to withstand the maximum input current and maintain a stable voltage. The resistance of the input supply rail should be low enough that an input current transient does not cause a high enough drop that can cause a false UVLO fault triggering and system reset. The amount of bulk capacitance is not critical, but a 47-μF or 100-μF electrolytic capacitor is a typical choice.
# 2.6. Revision history
|v1.2.2 (opens new window)||Sep 9, 2022||Fix PWM1 and PWM2 typo, add hardware version on the board.|
|v1.2.1 (opens new window)||Aug 31, 2022||Typo mistake: PWM1 and PWM2 are mixed up, harware version is missing. Updates: Add RGB led.|
|v1.1 (opens new window)||Dec 17, 2021||The first release|