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Motor driver with the CAN-bus interface is intended to be used with the CAN-enabled SimpleBGC32 controller.

It allows you to build a 3-axis stabilizer based on a modular scheme (see connection diagram) or an extended regular stabilizer by the 4th, 5th axis, with the optimized wiring between modules that is perfectly immune to EMI noise.

This module was designed for use with the "extended" controllers (Extended, Pro, CAN_MCU, OEM), replacing the onboard drivers. Requires firmware version 2.66b1 or higher.


  1.0.x 1.1.x 1.2.x*
Size of the board: 50×30 mm, with capacitor 60.5×31.5mm
Weight 11.50 g PCB with capacitor
Power supply voltage: 6–26 V (2s - 6s LiPo)
6–40 V (2s - 9s LiPo)
6–52 V (2s - 12s LiPo)
Maximum motor current: 15A continuous (with heatsink installed), max. 40A impulse 30A continuous (with heatsink installed), 40A short-time 20A continuous (with heatsink installed), 40A short-time
Current sensor max. range adjustment no 15A or 45A via solderable jumpers SW5-SW7

* Firmware 1.29 or later is required

Driver supports a big number of models of absolute rotary encoders with the following interfaces:

  • SPI
  • PWM
  • I2C
  • A, B, Z
  • SSI, BiSS-C (3v3, RS422)

Main controller connection:

  • 2x CAN, optional onboard terminator

Other interfaces:

  • Limit switch, Z-Index switch, Emergency switch, and several digital I/O pins
  • 1-wire for thermal sensor connection
  • Address selection pins
  • Serial port for "Serial-over-CAN" function


  • Over-current
  • Under-voltage
  • Short-circuit
  • Over-temperature
  • Over-voltage (surge protection)

CAD files

Version 1.0.x

Version 1.1.x

Version 1.2.x

CAD drawings (STEP, DWG) (3Mb 23.01.2024)



Compatible with all hardware versions.

Changelog (1018 b 28.11.2022)
CAN Driver firmware v.1.29 (101Kb 2.04.2024)
  • Added "Serial-over-CAN" functionality (main firmware 2.72b0+)
  • Telemetry from the driver can be requested via Serial API (main firmware 2.72b0+)
  • Added a support of hardware version CAN_DRV 1.2.x
  • Minor bugfixes

CAN Driver firmware v.1.26 (100Kb 27.12.2022)
  • Improved efficiency in a high-speed rotation mode
  • Bugfix: not all combinations of motor/encoder rotation direction worked properly

CAN Driver firmware v.1.16 (105Kb 7.06.2021)
  • Netzer VLX60 encoder support (Biss-C)

CAN Driver firmware v.1.15 (105Kb 10.01.2021)
  • Aksim2 encoder support (SPI & Biss-C)
  • Change method of PWM encoder capture (RLS Orbis PWM fixed errors in reading near zero point)
  • AMT223/AMT222 encoder support
  • CAN protocol update - more stable, ready to work in parallel with GPS_IMU

CAN Driver firmware v.1.11 (113Kb 21.05.2020)
  • Improved calibration of R,L motor parameters
  • Added extra safety checks and safety limit parameters
  • Minor bugfixes and other improvements

CAN Driver firmware v.1.07 (105Kb 24.10.2019)
  • Add a support of new encoders: Zettlex IncOder (SPI-over-RS422), iC-Haus iC-MU (SPI), TLE5012B (SPI, PWM), A1335 (SPI, I2C), AM4096 (I2C),  AS5048B (PWM), MA730 (SPI, PWM)
CAN Driver firmware v.1.00 (110Kb 1.01.2018)

How to upgrade firmware

To upgrade the firmware in the CAN_DRV module(s), connect modules by CAN interface to the main controller connected to a PC running SimpleBGC32 GUI.
Note: it's required to connect main power supply to make CAN_DRV working (they are not powered from USB).

In SimpleBGC32 GUI:

  1. Turn motors OFF by the button "MOTORS ON/OFF"
  2. Go to "Upgrade" tab, open "Connected modules" tab. Press the "Refresh" button to load information about modules.
  3. Select a required module from the list. GUI will show current hardware, firmware and bootloader versions for each module
  4. Browse for the file containing new firmware. Be careful, flashing improper file will make the device "bricked" and it will be hard to make it alive.
  5. Press "Flash" button to write firmware.
  6. Reconnect USB to restart gimbal controller and let him see changes.
  7. Connect GUI and repeat steps 2, 3 to check that new firmware is working and system operates normally.


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