Talon FXS Versatile Motor Controller
“
Product Information
Specifications
- Brand: CTR Electronics
- Product Name: Talon FXS
- Compatibility: Phoenix software ecosystem
- Motor Types Supported: Brushless (BLDC) and Brushed (BDC)
- Mounting Holes: 2-inch spaced mounting holes
- Connectivity: Onboard data port with flexible IO
Product Usage Instructions
1. Device Description
The CTR Electronics Talon FXS is a versatile motor controller
compatible with the Phoenix software ecosystem. It supports both
brushless (BLDC) and brushed (BDC) motors, providing flexibility
and high performance.
1.1. Kit Contents
(Kit contents description here)
1.2. Features
- Supports various brushless motors including CTR Electronics
Minion, Third-party NEO, NEO 550, and NEO Vortex. - Supports most third-party brushed motors.
- High-performance aluminum housing.
- Flexible wire connections with ring terminal connectors.
- 10-pin gadgeteer port for external encoders, limit switches,
etc. - Backwards compatible with most Talon SRX compatible encoders
and accessories. - Reverse polarity protection.
- CAN FD capable.
- PWM motor selection and control.
- High-fidelity stator and supply current limits.
- Improved motor efficiency and reduced velocity noise on
supported brushless motors with the Phoenix.
FAQ
Q: Where can I find the most recent version of the user
manual?
A: To obtain the most recent version of the user manual, please
visit www.ctr-electronics.com.
Q: What should I do if I have questions or comments about the
product?
A: If you have any questions or comments regarding the product
or the user manual, please contact
support@crosstheroadelectronics.com for assistance.
“`
Talon FXS User’s Guide
www.ctr-electronics.com
Talon FXS User’s Guide
Revision 1.0
1/27/2025
CTR Electronics www.ctr-electronics.com
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Table of Contents
1. Device description …………………………………………………………………………………………………………………………………………………… 4 1.1. Kit Contents……………………………………………………………………………………………………………………………………………………… 4 1.2. Features ………………………………………………………………………………………………………………………………………………………….. 5 1.3. Electrical/Mechanical Specifications ……………………………………………………………………………………………………………………. 6 1.4. General/Mechanical Specifications……………………………………………………………………………………………………………………… 7 1.5. PWM Control Specifications……………………………………………………………………………………………………………………………….. 7 1.6. LED States ……………………………………………………………………………………………………………………………………………………….. 8 1.7. Gadgeteer Port Pinout …………………………………………………………………………………………………………………………………….. 10 1.8. JST Port Pinout ……………………………………………………………………………………………………………………………………………….. 11
2. Installation ……………………………………………………………………………………………………………………………………………………………. 12 2.1. Mounting the Talon FXS …………………………………………………………………………………………………………………………………… 12 2.2. Wiring the Talon FXS for CAN……………………………………………………………………………………………………………………………. 13 2.3. Wiring the Talon FXS for PWM………………………………………………………………………………………………………………………….. 14
3. Example Sensor Installation …………………………………………………………………………………………………………………………………….. 15 3.1. Example: SRX Mag Encoder………………………………………………………………………………………………………………………………. 15 3.2. Example: Limit Switch and Third-Party Sensors …………………………………………………………………………………………………… 16
4. Software Information……………………………………………………………………………………………………………………………………………… 17 4.1. Example PWM Configuration and Control ………………………………………………………………………………………………………….. 17
5. Mechanical Drawings ……………………………………………………………………………………………………………………………………………… 18 6. Revision History …………………………………………………………………………………………………………………………………………………….. 19
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TO OUR VALUED CUSTOMERS
It is our intention to provide our valued customers with the best documentation possible to ensure successful use of your CTR Electronics products. To this end, we will continue to improve our publications, examples, and support to better suit your needs.
If you have any questions or comments regarding this document, or any CTR Electronics product, please contact support@crosstheroadelectronics.com
To obtain the most recent version of this document, please visit www.ctr-electronics.com.
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1. Device description
The CTR Electronics Talon FXS is a versatile motor controller compatible with the Phoenix software ecosystem. This standalone device supports controlling both brushless (BLDC) and brushed (BDC) motors, offering unparalleled flexibility and performance. The Talon FXS features flexible wiring options in the form of ring terminals, a sleek aluminum housing, 2-inch spaced mounting holes, and flexible IO through its onboard data port.
1.1. Kit Contents
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1.2. Features
– Supports various brushless motors o CTR Electronics Minion o Third-party NEO o Third-party NEO 550 o Third-party NEO Vortex
– Supports most third party brushed motors – High performance aluminum housing – 2″ spaced 10-32 mounting holes (without mounting plate) – 4″ spaced 10-32 clearance holes (with mounting plate) – Versatile wire connections in the form of ring terminal connectors – 10-pin gadgeteer port for external encoders, limit switches, etc.
o Backwards compatible with most Talon SRX compatible encoders and accessories – 6-pin JST port for brushless motors – Reverse polarity protection – CAN FD capable – PWM motor selection and control – High-fidelity stator and supply current limits – Improved motor efficiency and reduced velocity noise on supported brushless motors with the Phoenix
Pro feature “Advanced Hall Support” enabled – Advanced thermal protections for brushless motors – Advanced 1Khz closed-loop onboard control in the form of Motion Magic® and Motion Magic® Expo
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1.3. Electrical/Mechanical Specifications
Symbol Tamb Isupp Vdd Isupp Isupp
General Electrical Information
Parameter
Condition
Min Typ Max
Ambient temperature
-40
+85
Quiescent Current
DC supply 12.0V
70
Operating Voltage
6.0 12.0 24.0
Continuous Current
60
Surge Current (2 sec)
120
1.3.1. Absolute Maximum Ratings
Stress above these limits may cause damage to the Talon FXS or affect reliability.
Symbol
Parameter
Condition
Vdd
Supply Voltage
Stator Ring Terminal
Torque
Positive and Negative Ring
Terminal Torque
CAN H and CAN L Ring
Terminal Torque
10-pin Gadgeteer Port
Vdd
Analog Input Voltage (G3)
Vdd
Quadrature A/B Input Voltage (G7, G5)
Vdd
PWM Input Voltage (G9)
Vdd
Limit Fwd/Limit Rev Input Voltage (G4, G8)
Vdd
Reserved G1/G6 Input Voltage
Isupp
5V Maximum Output Current (shared with JST)
6-pin JST Port
Isupp
Hall A/B/C (J2, J3, J4) Input Voltage
Isupp
Temp (J5) Input Voltage
Isupp
5V Maximum Output Current (shared with Gadgeteer)
Min Typ Max 6.0 12.0 27.0
0.9
0.9
0.6
0
12
0
12
0
12
0
12
0
12
0
100
0
12
0
12
0
100
Unit °C mA V A A
Unit V Nm
Nm
Nm
V V V V V mA
V V mA
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1.3.2. Operational Ratings
Information regarding requirements when using auxiliary sensors.
Symbol
Parameter
10-pin Gadgeteer Port
Quadrature
Max Quadrature Edges Per Rotation1
EPRMAX Quadrature
Max Quadrature RPM1
RPMMAX Vdd
Output voltage
Logic High
Logic High Min Input Voltage
Quad A/B/PWM/Limit Fwd/Limit Rev
Logic Low
Logic Low Max Input Voltage
Quad A/B/PWM/Limit Fwd/Limit Rev
6-pin JST Port
Vdd
Output voltage
Logic High
Logic High Min Input Voltage
Logic Low
Logic Low Max Input Voltage
Min Typ Max
Unit
5.0 2.64
2,000,000,000 / Peak RPM
2,000,000,000 / EPR
V V
0.66
V
5.0
V
2.64
V
0.66
V
1.4. General/Mechanical Specifications
Description Outside Dimensions (W x H x L)
Weight Hole Spacing
Without Mounting Plate 1.43″ x 1.16″ x 3.06″ .25 lbs
2″ (compatible with WCP box tube)
With Mounting Plate 1.43″ x 1.29″ x 4.5″ .30 lbs
4″ (compatible with WCP box tube)
1.5. PWM Control Specifications
The Talon FXS supports motor control through two communication protocols: CAN (2.0 and FD) and PWM. The table below can be used to determine the requirements for using the Talon FXS with PWM. It is preferred for the user to utilize CAN over PWM, as most smart motor controller functionality is only available when used with CAN.
Parameter PWM Input Pulse (High Time)
PWM Input Rate (Period) Minimum Throttle (Dead band) PWM Logic High Min Voltage Threshold PWM Logic Low Max Voltage Threshold PWM Input Min Current
Specification 1 2ms nominal 0.6 2.4ms maximum 2.9 100ms 4%
1V
0.4V < 1mA
1 Maximum selectable EPR may differ. Consult the API documentation.
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1.6. LED States
The Talon FXS has 2 LEDs located on the front of the Talon FXS. These LEDs indicate various states about the device and are useful for diagnostics. The table below can be used to look up what corresponding LED color codes mean.
LED Color
LED State
Cause
Possible Fix
Off
LEDS Off
Device does not have power
Provide 12V to V+ and V- inputs.
Red/Off
Blinking alternating Device does not have valid CAN or is not
red
receiving a PWM signal.
Ensure good connections from the CAN H and CAN L inputs to the robot, and that the robot controller is turned on.
If controlling over PWM, ensure the robot is enabled and PWM is properly connected with signal (white) to CAN H (yellow) and ground (black) to CAN L (green).
Orange/Off
Blinking alternating Device detects CAN but does not see
orange
Phoenix running on the robot controller.
If Phoenix is running on the robot controller, ensure good connection between the controller and this device. Otherwise, deploy a robot program that uses Phoenix.
Orange/Off
Blinking simultaneous
orange
Device has a valid CAN signal and is disabled. Phoenix is running in robot controller, and Talon FX has good CAN connection to robot controller.
If robot is enabled, ensure a control request is being sent to the device.
Orange/Orange Both solid orange Talon FXS is enabled with neutral output.
Red/Red
Blinking
Talon FXS is driving in reverse. Rate of blink corresponds to duty cycle applied.
simultaneous red
Green/Green
Blinking
Talon FXS is driving forward. Rate of blink corresponds to duty cycle applied.
simultaneous green
Red/Off
Offset alternating Talon FXS limited (hard or soft limit). Direction of offset determines
red/black
forward/reverse limit.
Orange/Off Red/Green
Orange/Green
Offset orange/off
Alternating red/green LEDs
are never off Alternating orange/green LEDS are never off
Talon FXS in thermal cutoff or the motor sensor cable is unplugged. Talon FXS driven with Pro-only command while unlicensed.
See “1.6.1. Troubleshooting Fault LED” for potential solutions. Use non-Pro-only command, or
license device for Pro.
Talon FXS driven with no motor selected Configure the Talon FXS with the
in motor arrangement.
attached motor.
Red/Orange
Alternative
red/orange LEDS are never off
Damaged Hardware.
Contact CTR Electronics support.
Green/Orange
Single LED alternates green/orange
Talon FXS in bootloader.
Field-upgrade device in Phoenix Tuner X.
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1.6.1. Troubleshooting Fault LED
A Talon FXS fault, as indicated with an “Offset orange/off” blink code, can be triggered for a variety of reasons. The list below can be used to help identify the reason and a potential solution.
Brushless Motor · JST is disconnected or damaged. Plug-in the motor JST cable into the JST port and ensure the cable is not damaged. · Motor arrangement is incorrect. Please configure the selected motor. · Talon FXS or motor has reached thermal cut-off. Allow time for the device to cool and consider configuring current limits (only available through CAN).
Brushed Motor · Motor arrangement is incorrect. Please configure the Talon FXS to one of the available brushed options. · Talon FXS has reached thermal cut-off. Allow time for the device to cool and consider placement of the Talon FXS to improve heat distribution.
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1.7. Gadgeteer Port Pinout
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Pin Usage
1
Reserved (Do Not Use)
2
5V
3
Analog Input2
4
Forward Limit
5
Quadrature B
6
Reversed (Do Not Use)
7
Quadrature A
8
Reverse Limit
9
PWM Input
10 Ground
It’s recommended to use a gadgeteer breakout module when wiring third-party sensors. This reduces the possibility of damage to the Talon FXS gadgeteer port.
2 Analog is supported in hardware. Consult the API documentation to determine availability.
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1.8. JST Port Pinout
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Pin Usage
1
Ground (Black)
2
Hall C (Green)
3
Hall B (Yellow)
4
Hall A (Blue)
5
Temperature (White)
6
5V (Red)
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2. Installation
The Talon FXS has 2x 6-32 threaded ring terminals for 12-24V DC power input labeled V+/V-. The Talon FXS can be used for PWM or CAN, with 2x 4-40 threaded ring terminal for CAN H and CAN L.
2.1. Mounting the Talon FXS
The Talon FXS comes with a black aluminum mounting plate with 10-32 4-inch spaced mounting holes. This mounting plate can be screwed onto the back of the Talon FXS and is directly compatible with WCP Box Tube.
Alternatively, there are two 10-32 threaded holes on the back of the Talon FXS that can be used for mounting.
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2.2. Wiring the Talon FXS for CAN
An example wiring diagram is shown below. The Talon FXS has an onboard voltage regulator and it’s highly recommended that input voltage comes directly from a battery. CAN is wired in a “daisy-chain” where the Talon FXS is located on a stub no longer than 1 foot.
The Talon FXS is compatible with a variety of brushless and brushed motors. For supported brushless motors, see the API documentation to determine what colors correspond to which terminal. The coloring on the text above the ring terminals can be used as a wiring guide for common FRC brushless motors.
Important! The stator, positive, and negative ring terminals should not exceed 0.9Nm of torque when attaching wires. The CAN H and CAN L terminals should not exceed 0.6Nm.
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2.3. Wiring the Talon FXS for PWM
When used with PWM, the Talon FXS expects the PWM signal input to be through the CAN H (yellow) ring terminal and GND through the CAN L (green) ring terminal.
Important! The stator, positive, and negative ring terminals should not exceed 0.9Nm of torque when attaching wires. The CAN H and CAN L terminals should not exceed 0.6Nm.
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3. Example Sensor Installation
Talon FXS is backwards compatible with most accessories for the Talon SRX through its gadgeteer port. This section highlights wiring common sensors to the Talon FXS.
Important! Always consult the manufacturer documentation for your sensor. Different sensors behave differently depending on how they are wired.
3.1. Example: SRX Mag Encoder
The SRX Mag Encoder can be connected directly to the Talon FXS using a gadgeteer cable.
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3.2. Example: Limit Switch and Third-Party Sensors
The diagram below shows a typical limit switch wired to P4 (forward limit) on the Talon FXS. The limit switch is wired such that forward limit will be closed when the lever is pressed, preventing any positive output duty cycle.
The below diagram can be useful as a reference for wiring other third-party sensors that do not directly integrate a gadgeteer port.
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4. Software Information
Software information can be found on our documentation landing page at https://docs.ctr-electronics.com.
4.1. Example PWM Configuration and Control
Tip! The requirements for PWM control are documented at https://store.ctr-electronics.com/pages/pwm-control
The Talon FXS motor arrangement and certain configs can be configured over PWM. See the CTR Electronics example repository for a Talon FXS example.
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5. Mechanical Drawings
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6. Revision History
Revision Date
1.0
27-Jan-2025
Description Initial Creation.
1/27/2025
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Documents / Resources
 |
CTR Electronics Talon FXS Versatile Motor Controller [pdf] User Guide Talon FXS Versatile Motor Controller, Versatile Motor Controller, Motor Controller, Controller |