Duet 3 Expansion Board 1HCL v2.0

The Duet 3 Expansion 1HCL board provides a high current Stepper motor driver, combined with multiple interfaces for position feedback and firmware to implement closed loop position control. In addition it has a number of peripheral inputs and outputs for functions such as sensing motor temperature, controlling a brake and axis endstop. It connects to the Duet 3 CAN-FD bus using RJ11 connectors (same as the Duet 3 Mainboard 6HC, Duet 3 expansion boards, and the tool distribution board). Multiple Duet 3 Expansion 1HCL boards can be daisy chained on the bus, with power (up to 48V) provided locally. This allows for very large machines to be constructed without a significant wiring burden and signal integrity issues.

FEATURES	SPECIFICATIONS
Processor	Microchip ATSAME51G19A
Processor features	32-bit, 120MHz ARM Cortex-M4F, 512Kb flash, 192Kb RAM, hardware single precision floating point unit
Networking/Comms	CAN-FD BUS for connection to the Duet 3 Mainboard. Optional on-board CAN bus termination.
On-board Stepper Driver	1 x TMC2160A
Stepper Driver features	SPI controlled, can be run in open loop or closed loop mode. Maximum motor current 6.3A peak per phase (4.45A RMS)
Encoder Inputs	Single Ended/Differential Quadrature or SPI bus
Thermistor/PT1000 inputs	2 x thermistor/PT1000 inputs. This is intended to allow for motor temperature monitoring, potentially coupled with a cooling system controlled by one of the outputs
Medium current output	1 x medium-current (2.5A max) output at V_FUSED or VA_FUSED (V_AUX with fuse protection) voltage, with PWM capability and built-in flyback diodes
Brake output	1 x Brake Solenoid (1A max) output at V_FUSED or VA_FUSED voltage. This circuit is designed to turn on/off very quickly to allow for fast brake engagement. It has PWM capability so can be configured to support 24V brakes when V_IN is 48V. Alternatively provide V_AUX at 24V for the brake. (note before v2.0 this output was OUT1 so could be used for a brake or other purpose, without the fast turn off)
Inputs/Outputs	2 x 3.3V-level PWM capable output (3mA max), 2 x digital inputs, protected against over-voltage. Example use: endstop switches
Firmware	RepRapFirmware 3.4 and later; PID tuning plugin for Duet Web Control