{ "metadata": { "id": "rev-spark-flex-rev-11-2159", "name": "SPARK Flex Motor Controller", "type": "motor_controller", "manufacturer": "REV Robotics", "part_number": "REV-11-2159", "datasheet_url": "https://docs.revrobotics.com/brushless/spark-flex/specs", "schema_version": "1.4.0", "version": "0.2.0", "description": "Dockable smart motor controller with integrated power and shared CAN/PWM control wiring, USB-C, and 10-pin Data Port." }, "domains": [ { "domain": "electrical", "supply_voltage_V": [ 6, 24 ], "power_domains": [ { "id": "main_12v", "name": "Main DC Input", "nominal_voltage_V": 12, "voltage_range_V": [ 6, 24 ], "max_current_mA": 100000, "ground_reference": "common", "isolation_type": "non_isolated", "description": "Main robot DC bus; absolute max 30V." }, { "id": "usb_5v", "name": "USB VBUS", "nominal_voltage_V": 5, "voltage_range_V": [ 4.75, 5.25 ], "max_current_mA": 500, "ground_reference": "common", "isolation_type": "non_isolated", "description": "USB-C provides 5V for internal microcontroller (not for motor output)." }, { "id": "data_5v", "name": "Data Port 5V Output", "nominal_voltage_V": 5, "voltage_range_V": [ 4.75, 5.25 ], "max_current_mA": 500, "ground_reference": "common", "isolation_type": "non_isolated", "description": "5V sensor supply available on Data Port; current may be reduced on USB-only power." } ], "resources": [ { "id": "power_pos", "name": "+ Main Power Lead", "description": "Integrated red power input wire (12 AWG, ~450 mm).", "connector_type": "pigtail_wire", "power_domain_id": "main_12v", "functions": [ { "name": "power_input", "direction": "sink", "signal_class": "power" } ] }, { "id": "flex_dock_connector", "name": "Flex Dock Connector", "description": "Connector for the Flex Dock.", "connector_type": "flex_dock_connector", "functions": [ { "name": "flex_dock_connector" } ] }, { "id": "power_neg", "name": "- Main Power Lead", "description": "Integrated black power/return wire (12 AWG, ~450 mm).", "connector_type": "pigtail_wire", "power_domain_id": "main_12v", "functions": [ { "name": "ground", "direction": "sink", "signal_class": "ground" } ] }, { "id": "control_yellow_pair", "name": "CANH / PWM Signal (yellow pair)", "description": "Two yellow 26 AWG control wires; used as CAN_H in CAN mode or PWM signal in PWM mode. Wires are duplicated in parallel for standardized in/out connectors.", "connector_type": "pigtail_wire", "functions": [ { "name": "can_h", "direction": "bidirectional", "signal_class": "data", "shareable_with": [ "pwm_input" ] }, { "name": "pwm_input", "direction": "sink", "signal_class": "data", "shareable_with": [ "can_h" ] } ] }, { "id": "control_green_pair", "name": "CANL / Ground (green pair)", "description": "Two green 26 AWG control wires; used as CAN_L in CAN mode or ground/return in PWM mode. Wires are duplicated in parallel for standardized in/out connectors.", "connector_type": "pigtail_wire", "power_domain_id": "main_12v", "functions": [ { "name": "can_l", "direction": "bidirectional", "signal_class": "data", "shareable_with": [ "ground" ] }, { "name": "ground", "direction": "sink", "signal_class": "ground", "shareable_with": [ "can_l" ] } ] }, { "id": "usb_dp", "name": "USB D+", "description": "USB 2.0 D+ on USB-C port.", "connector_type": "usb_c", "functions": [ { "name": "usb_dp", "direction": "bidirectional", "signal_class": "data" } ] }, { "id": "usb_dm", "name": "USB D-", "description": "USB 2.0 D- on USB-C port.", "connector_type": "usb_c", "functions": [ { "name": "usb_dm", "direction": "bidirectional", "signal_class": "data" } ] }, { "id": "usb_gnd", "name": "USB Ground", "description": "USB-C ground.", "connector_type": "usb_c", "power_domain_id": "usb_5v", "functions": [ { "name": "ground", "direction": "sink", "signal_class": "ground" } ] }, { "id": "usb_vbus", "name": "USB VBUS", "description": "USB-C VBUS (5V from host).", "connector_type": "usb_c", "power_domain_id": "usb_5v", "voltage_input_V": 5, "max_continuous_current_mA": 500, "functions": [ { "name": "vbus", "direction": "sink", "signal_class": "power" } ] }, { "id": "data_p1", "name": "Data Pin 1", "description": "Reserved (Data Port connector pin).", "connector_type": "samtec_isdf_2x5_pin", "power_domain_id": "data_5v", "functions": [] }, { "id": "data_p2", "name": "Data Pin 2", "description": "+5V sensor supply (Data Port connector pin).", "connector_type": "samtec_isdf_2x5_pin", "power_domain_id": "data_5v", "functions": [ { "name": "power_output", "direction": "source", "signal_class": "power" } ], "voltage_output_V": 5, "max_continuous_current_mA": 500 }, { "id": "data_p3", "name": "Data Pin 3", "description": "Analog Input (0..Vout) (Data Port connector pin).", "connector_type": "samtec_isdf_2x5_pin", "power_domain_id": "data_5v", "functions": [ { "name": "analog_input", "direction": "sink", "signal_class": "sense" } ] }, { "id": "data_p4", "name": "Data Pin 4", "description": "Forward Limit Switch Input (Data Port connector pin).", "connector_type": "samtec_isdf_2x5_pin", "power_domain_id": "data_5v", "functions": [ { "name": "digital_input", "direction": "sink", "signal_class": "sense" } ] }, { "id": "data_p5", "name": "Data Pin 5", "description": "External Encoder - B Input (Data Port connector pin).", "connector_type": "samtec_isdf_2x5_pin", "power_domain_id": "data_5v", "functions": [ { "name": "QUAD_B", "direction": "sink", "signal_class": "data" } ] }, { "id": "data_p6", "name": "Data Pin 6", "description": "Absolute Encoder - Duty Cycle Input (Data Port connector pin).", "connector_type": "samtec_isdf_2x5_pin", "power_domain_id": "data_5v", "functions": [ { "name": "pwm_input", "direction": "sink", "signal_class": "data" } ] }, { "id": "data_p7", "name": "Data Pin 7", "description": "External Encoder - A Input (Data Port connector pin).", "connector_type": "samtec_isdf_2x5_pin", "power_domain_id": "data_5v", "functions": [ { "name": "QUAD_A", "direction": "sink", "signal_class": "data" } ] }, { "id": "data_p8", "name": "Data Pin 8", "description": "Reverse Limit Switch Input (Data Port connector pin).", "connector_type": "samtec_isdf_2x5_pin", "power_domain_id": "data_5v", "functions": [ { "name": "digital_input", "direction": "sink", "signal_class": "sense" } ] }, { "id": "data_p9", "name": "Data Pin 9", "description": "External Encoder - Index Input (Data Port connector pin).", "connector_type": "samtec_isdf_2x5_pin", "power_domain_id": "data_5v", "functions": [ { "name": "digital_input", "direction": "sink", "signal_class": "data" } ] }, { "id": "data_p10", "name": "Data Pin 10", "description": "Ground (Data Port connector pin).", "connector_type": "samtec_isdf_2x5_pin", "power_domain_id": "data_5v", "functions": [ { "name": "ground", "direction": "sink", "signal_class": "ground" } ] } ], "interfaces": [ { "id": "power_input", "name": "Main Power Input", "description": "Main DC power input via integrated 12 AWG leads.", "protocol": { "type": "power", "role": "input" }, "requires": [ { "function": "power_input", "count": 1 }, { "function": "ground", "count": 1 } ], "constraints": { "min_wire_gauge_awg": 12 } }, { "id": "flex_dock_connector", "name": "Flex Dock Connector", "description": "Connector for the Flex Dock.", "connector_type": "flex_dock_connector", "requires": [ { "function": "flex_dock_connector", "count": 1 } ] }, { "id": "control_can_pwm", "name": "CAN/PWM Control", "description": "Shared control wiring for CAN or servo-style PWM. Device auto-detects CAN vs PWM on the same twisted, duplicated yellow/green pair. Yellow pair is CAN_H (or PWM signal); green pair is CAN_L (or PWM ground). PWM input timing: 1000/1500/2000 µs nominal, valid 500–2500 µs, 50–200 Hz; 50 ms timeout.", "protocol": { "type": "can", "role": "peer" }, "requires": [ { "function": "can_h", "count": 1 }, { "function": "can_l", "count": 1 } ], "constraints": { "min_wire_gauge_awg": 26 } }, { "id": "usb_c", "name": "USB-C Configuration", "description": "USB-C port for configuration/control (USB 2.0). Can power internal MCU but not motor output. USB is one of the supported control interfaces.", "protocol": { "type": "usb", "role": "device" }, "requires": [ { "function": "usb_dp", "count": 1 }, { "function": "usb_dm", "count": 1 }, { "function": "ground", "count": 1 } ], "constraints": { "requires_impedance_matching": true, "max_cable_length_m": 5 } }, { "id": "data_port", "name": "Data Port (2x5 keyed/locking)", "description": "10-pin Data Port for sensor I/O: 5V supply, analog input, quadrature A/B/index, limit switch inputs, and duty-cycle input for absolute encoder.", "protocol": { "type": "custom", "role": "device" }, "requires": [ { "function": "power_output", "count": 1 }, { "function": "ground", "count": 1 }, { "function": "analog_input", "count": 1 }, { "function": "QUAD_A", "count": 1 }, { "function": "QUAD_B", "count": 1 }, { "function": "pwm_input", "count": 1 }, { "function": "digital_input", "count": 3 } ] } ], "pin_count": 18 }, { "domain": "mechanical", "resources": [ { "id": "mount_hole_1", "name": "Mounting Hole 1", "description": "#10-32 threaded mounting hole on 2 in bolt circle (max depth 0.25 in).", "connector_type": "threaded_hole", "functions": [ { "name": "mounting_hole" } ] }, { "id": "mount_hole_2", "name": "Mounting Hole 2", "description": "#10-32 threaded mounting hole on 2 in bolt circle (max depth 0.25 in).", "connector_type": "threaded_hole", "functions": [ { "name": "mounting_hole" } ] }, { "id": "mount_hole_3", "name": "Mounting Hole 3", "description": "#10-32 threaded mounting hole on 2 in bolt circle (max depth 0.25 in).", "connector_type": "threaded_hole", "functions": [ { "name": "mounting_hole" } ] }, { "id": "mount_hole_4", "name": "Mounting Hole 4", "description": "#10-32 threaded mounting hole on 2 in bolt circle (max depth 0.25 in).", "connector_type": "threaded_hole", "functions": [ { "name": "mounting_hole" } ] }, { "id": "mount_hole_5", "name": "Mounting Hole 5", "description": "#10-32 threaded mounting hole on 2 in bolt circle (max depth 0.25 in).", "connector_type": "threaded_hole", "functions": [ { "name": "mounting_hole" } ] }, { "id": "mount_hole_6", "name": "Mounting Hole 6", "description": "#10-32 threaded mounting hole on 2 in bolt circle (max depth 0.25 in).", "connector_type": "threaded_hole", "functions": [ { "name": "mounting_hole" } ] } ], "interfaces": [ { "id": "mounting_holes", "name": "Mounting Holes", "description": "Threaded mounting holes (#10-32 on 2 in bolt circle, max depth 0.25 in).", "protocol": { "type": "threaded_connection", "role": "mounting_point" }, "requires": [ { "function": "mounting_hole", "count": 6 } ] } ], "metadata": { "mounting_method": "threaded_holes", "field_serviceable": true, "requires_special_tools": false } }, { "domain": "thermal", "resources": [], "interfaces": [] }, { "domain": "pneumatic", "resources": [], "interfaces": [] }, { "domain": "hydraulic", "resources": [], "interfaces": [] }, { "domain": "network", "resources": [], "interfaces": [] } ] }