IQ Motion Control

Born out of the University of Pennsylvania’s robotics lab, IQ Motion Control is a tech startup that delivers the ultimate drone motor module for versatility and performance. We first gained recognition in the robotics community for our Anticogging technology, and since, we have developed advanced motion control systems that allow our electric motors to achieve increased power and efficiency, as well as superior speed and position control. Six years worth of development allows us to incorporate both public and proprietary algorithms to deliver peak motor performance.

The roots of IQ can be traced back to 2010 when founder and CEO Matthew Piccoli began his PhD in the Modlab, part of the GRASP lab at the University of Pennsylvania. He started working on a project that ultimately led to the creation of a single-motor aerial vehicle called UNO. Knowing that he would have to pulse the motor quickly to steer the single motor flying vehicle, Matt hunted the industry and hobby worlds for high bandwidth, high power, light weight motor controllers. They didn’t exist, so he decided to make his own. The IQ motor module has evolved from this project and it is now the first commercially available sensored drone module.

The first drone motor with position sensing

The IQ Motor Module is an integrated motor and controller with an embedded position sensor. With position sensing and advanced calibration and control algorithms, IQ is able to optimize motor performance and give users unprecedented control over their vehicles and machines. The drone industry has relied on hobby-grade motors and controllers for too long. Now, IQ is bringing advanced motor control to the drone industry and other robotics fields at an affordable price.

IQ motors support serial communication as well as standard hobby protocols, so you can easily integrate them into your vehicle. Whether you’re an engineer testing our motors for commercial use or a maker/pilot using them in a personal drone, IQ motors will deliver high-end, professional performance.

What can you do with IQ Motor Modules?

Speed Applications

FPV Drone Racing and Acrobatics

The IQ Vertiq 2306 2200KV is ideal for FPV pilots who want faster throttle response, greater maneuverability, and higher peak RPM. Check out some demos.

Vertical Takeoff and Landing

High efficiency motors are even more important in VTOL applications. The Vertiq 2306 2200KV is much more efficient relative to standard motor/ESC combinations at lower speeds.

New UAVs

Freed from the limitation of spinning in a single direction, IQ motors enable entirely new drone technology. We’re excited to see what our backers come up with.

Other RC Vehicles

Although our high speed motors and controllers are designed for multicopters, they’re great for anything from RC planes to cars to battlebots.

Precision Applications

Robotic Arms

An IQ Vertiq 2306 220KV motor can be used to actuate movement at every joint, giving a robot arm smooth, precise motion.https://player.vimeo.com/video/256687335?title=0&byline=0&portrait=0&api=1

3D Printers and CNCs

Our tech is great for linear motion machines. IQ motors are smoother, quieter, and more efficient than stepper motors, and they will never skip a step or get lost.

Gimbals

Closed-loop position control and anti-cogged motion can make gimbal systems extremely smooth and stable.

Prototype Industrial Machinery and Medical Devices

High speed, precision motors and controllers can cost thousands of dollars. Try our motors in your prototype to save money without sacrificing performance. We’re planning to make industrial and medical-grade motors soon.

Maker Projects

Since our motors are easily programmable and versatile, they can be used in so many different applications we can’t possibly imagine them all. We can’t wait to see what our backers dream up.https://player.vimeo.com/video/256687353?title=0&byline=0&portrait=0&api=1

IQ Motors in Drone Action

Quick Prop Reversal and Super Responsivity

Precision Rotor Intermeshing

Fly Upside-down

Roll

Flip

Features & Specifications

Specifications

Microcontroller	32-bit ARM Cortex MCU @ 64 MHz
Motor Dimensions	28.4 mm diameter, 22 mm height
Stator Dimensions	23 mm diameter, 6 mm height
Shaft Diameter	2 mm ID, 5 mm OD, 5 mm prop
Weight (motor w/o wires)	35.2 g
Weight (motor w/ wires+connectors)	43.1 g
Weight (prop adapter+nut)	2.6 g
Motor KV Options	2200 RPM/V, 220 RPM/V
2200 KV Max Continuous Motor Current (10 s)	30 A
2200 KV Max Instant Motor Current (50 ms)	60 A
220 KV Max Continuous Motor Current (10 s)	3 A
220 KV Max Instant Motor Current (50 ms)	6 A
Voltage (Max # of Lipo Cells)	17 V (4S)

The preliminary Speed Module datasheet is available here.

Features

• Enhanced Controllability
  • Velocity and position control with tunable PID + feed forward
  • 3D reversible, no delay while crossing zero
  • No start-up or reverse jitter
  • Anti-cogging: smoother flight, reduced vehicle vibration
  • 40 ms response time
• Power and Efficiency Boost
  • Sinusoidal commutation (up to 20% increase battery life)
  • Trapezoidal commutation (4.8% more shaft power)
• Other Advanced Features
  • Regenerative and active braking
  • Active freewheeling
  • Over-current protection
  • Communication protocols (serial, Dshot1200, & standard PWM)
  • Telemetry capability (voltage, current, RPM)
  • Fast FET switching, use of gate drivers
  • Sensored vector control with space vector PWM
  • Controller-motor integration

Speed Firmware

The speed firmware is specially designed to drive propellers or any application with target velocities. This firmware speaks all of the common communication protocols, including 1-2 ms PWM, Oneshot (125, 42), Multishot, and DShot(150, 300, 600, 1200), as well as IQ’s UART protocol.

Position Firmware

The position firmware has a position controller capable of single turn positioning and multi turn positioning. The built in minimum jerk trajectory generator creates smooth motion with minimal user effort. It speaks step/direction and IQ’s UART protocol.

Note: We will make both the position and speed firmware available, so users will be able to flash the controllers with the other firmware if they choose. We will do an update explaining how to switch firmwares if you’d like the position firmware on an IQ Speed Module or vice versa.

Comparisons

Drone Motor Setups: IQ Vertiq 2306 2200KV vs. Competition

Specifications	IQ Motor Modules	Drone Setup #1	Drone Setup #2	Drone Setup #3
Motor	Integrated	Tiger Motor F40III – 2400KV	Turnigy D2206-2300KV 31g Brushless Motor CW	ZTW Black Widow 2206 2200KV With Built-In ESC CW
Electronic Speed Control (ESC)	Integrated	32A Kiss ESC	Turnigy MultiStar 30A BLHeli-S Rev16 V3 ESC 2~4S (Opto)	Integrated
Motor Dimensions (Dia/Height) (LxWxD) (mm)	28.4/22	28.4/17	28/19.5	27.5/21.4
ESC Dimensions (Lenth/Width) (mm)	Integrated	27/19	28/13	Integrated
Weight RTF¹ / RTU (g)	45.7	46.6	41.2	41.6
Motor KV (final drive) (RPM/V)	2200 & 220	2400	2300	2200
Shaft Diameter (ID/OD/prop) (mm)	2/5/2005	1.6/4/5	-/3/5	-/3/5
Voltage (V) / No. of Lipo Cells (S)	16.8/4	30/6	16.8/4	12.6/3
Max Speed (no load) (RPM)	37000 & 3700	71000	39000	28000
Min Speed (RPM)	0	~1000	~1000	~1000
Gearbox	No	No	No	No
Torque (stalled, continuous) (Nm)	0.04	N/A	N/A	N/A
Max Current Continuous (A)	30 & 3	32	30	18
Max Current Burst (A)	60 & 6	45	35	28
Reversibility (3D mode)	Yes	Yes²	No	No
Open-loop velocity control	Yes (Voltage/PWM)	Yes (PWM)	Yes (PWM)	Yes (PWM)
Closed-loop velocity control	Yes (PID+FF)	No	No	No
Backdrivable	Yes	N/A	N/A	N/A
​Regenerative and active braking	Yes	Yes	Yes	No
Active freewheeling	Yes	Yes	Yes	No
Over-current protection	Yes	Yes	No	No
Built-in Controller/ESC	Yes	No	No	Yes
Sinusoidal (vibrationless)	Yes	Yes (<90% throttle)	No	No
Price (qty. 1) (USD)	80	54.89	18.05	28.63

¹ With 150 mm wires, XT-30 power connector, servo connector
² Startup jitter on direction change

Position Motor Setups: IQ Vertiq 2306 220KV vs. Competition

Specifications	IQ Motor Modules	Position Setup #1	Position Setup #2	Position Setup #3
Motor	Integrated	Nema 11 11HS12-0956D	Power HD 3001HB	Dynamixel AX-18A
Driver	Integrated	TB6612 Stepper Motor Driver Breakout	Integrated	Integrated
Controller	Integrated	Arduino Pro Mini 328	Integrated	Integrated
Motor Dimensions (Dia/Height) (LxWxD) (mm)	28.4/22	28.2×28.2×31.5	20.5×54.5×39.5	32x50x40
ESC Dimensions (Lenth/Width) (mm)	Integrated	27/19 + 33/18	Integrated	Integrated
Weight RTF¹ / RTU (g)	45.7	>110	43	54.5
Motor KV (final drive) (RPM/V)	2200 & 220	211	14	8
Shaft Diameter (ID/OD/prop) (mm)	2/5/2005	-/5/-	N/A	N/A
Voltage (V) / No. of Lipo Cells (S)	16.8/4	13.5/3	6/-	12.6/3
Max Speed (no load) (RPM)	37000 & 3700	2800	83	97
Min Speed (RPM)	0	0	0	0
Gearbox	No	No	240:1	254:1
Torque (stalled, continuous) (Nm)	0.04	0.04	0.43	1.8
Max Current Continuous (A)	30 & 3	1	0.9	2.2
Max Current Burst (A)	60 & 6	N/A	N/A	N/A
Reversibility (3D mode)	Yes	Yes	Yes	Yes
Open-loop position control	Yes	Yes	No	No
Closed-loop position control	Yes	No	Yes (165°)	Yes (300°)
Closed-loop multi-turn position control	Yes	No	No	No
Trajectory generation	Yes	No	No	No
Backdrivable	Yes	Yes²	No	No
​Regenerative and active braking	Yes	No	Yes	Yes
Active freewheeling	Yes	No	N/A	N/A
Over-current protection	Yes	Yes	No	Yes
Built-in Controller/ESC	Yes	No	Yes	Yes
Sinusoidal (vibrationless)	Yes	No	N/A	N/A
Price (qty. 1) (USD)	80	29.53	9.95	94.9

¹ With 150 mm wires, XT-30 power connector, servo connector
² Position information will be lost

Shipping & Fulfillment

Crowd Supply will be handling all fulfillment and logistics. As such, all orders will be shipping from their warehouse in Texas, in the US. See The Crowd Supply Guide for more information on their ordering and shipping policies.