FAQs

The Puck can easily be transferred from one motor to another with the usage of a Motor-Interface-Board (MIB). Please refer to the relevant datasheet for notes on MIB design.

First, make sure power is turned off. Connecting or disconnecting a Puck while the power is on can damage the Puck.

To connect a P4-16 to a new MIB, verify orientation by lining the small connector (J1) on the P4-16 to the corresponding connector on the MIB. With correct alignment, carefully press down on the Puck. There will be two distinct clicks as both connectors mate properly. 

To connect a P4-37 to a new MIB, carefully align the smaller connector (J2) with the corresponding connector on the MIB. Carefully press the Puck into the MIB from above. If the P4-37 does not connect easily, verify orientation and try again. 

When removing a Puck, pull carefully from above, ensuring that both connectors disengage at the same time. Avoid pulling at an angle and apply only light perpendicular force. The Puck should connect and disconnect with small amounts of force.

Both the P4-16 and P4-37 have sturdy connectors but are prone to damage if used improperly. Careful alignment and disconnecting perpendicular to the MIB can increase the lifespan of the connectors, and reduce risk of damage to the Puck.

Once the Puck has been moved to the new motor, simply upload the new motor configuration file and recalibrate the Puck.

The Motor Configuration is a csv file which contains the default settings for calibration, RPDO and TPDO configuration, Safety Limits, Motion Control Defaults (e.g. velocity, acceleration), Control Gains, and Motor Specifications.

The Puck only needs to be configured once when used with a new motor. Defaults may be updated and stored during run time, but updating the configuration is only required when switching motors.

Yes! The Puck can be used on any motor. All you need is a configuration file to tune the Puck for the motor specifications and recalibration in the Puck Utility App. 

Please contact support@barrett.com for help with configuration or custom tuning from Barrett Engineers.

Absolutely! The Dev Board accepts input from 12-48 VDC for Bus Voltage (VBus). An on-board regulator generates 12V logic voltage from the VBus connection. If required for design testing or prototyping, an external 12V source can be connected to provide logic voltage. In this scenario, the on-board regulator senses an external 12V input and automatically shuts down to allow easy switching between logic power sources. Before controlling a motor with a new Bus Voltage, the configuration file must be updated to tune for the new input voltage, and the Puck must be recalibrated via the Puck Utility App.

Note: The on-board 12V regulator requires >=12V input to turn on.

Up to 31 Pucks may be run on the same CAN bus simultaneously. Simply daisy chain CAN connections between various Pucks using a Samtec FJH-10-R-12.00-4 flex cable. P4-16s and P4-37s may be used together for various applications. To avoid communication errors, ensure each Puck has a unique CAN ID before connecting it to the daisy chain.

The I/O headers on the Dev Board make all signals on the Puck easily accessible.

The header (PN FTSH-110-01-L-DV-P-TR) mates with Samtec’s FFSD-10 line of connectors for both easy to board connection or single ended wires. The header is a generic 1.27mm pitch for versatile use with a variety of connectors and applications.

Please refer to the relevant datasheet for descriptions of each signal and uses.

The P4-37 is rated up to 160V (200V Peak) input out of the box. For use with the P4 Dev Board, please contact support@barrett.com to safely operate above 48V.

We are happy to answer any questions regarding absolute maximums and usage in battery powered applications.

Reach out to support@barrett.com for a quick response from Barrett’s engineering team.

We are happy to answer any questions and help with your Puck applications.