Rudder

The motor currently in use in the rudder is the Lehner 30100/12 with a NTC Temp. Sensor (B 25/100 3988 ±1%) installed. There is also a magnetic encoder placed behind the motor.

Rudder-controller

To accommodate the new rudder design and its features, a controller is needed. With this controller we want to enable a multiple of functionalities that will help with the integrate cooling system and the control of the back-foil.

The design should therefore have the following requirements:

Requirements for the rudder-controller

Feature	Description	Electrical connections
Power	Power will be coming from the CAN-bus It is important that the inrush of the connected motors must not decrease the CAN-bus voltage.	4-pins connector that hosts the CAN-bus and Power
Communication	The board will use the CAN-bus to communicate and retrieve commands	4-pins connector that hosts the CAN-bus and Power
Back-foil control	A TMC2209 or comparable is needed that supports StallGuard™	Available on the platform connected to the back-foil motor
Back-foil motor	The Nema 11 Stepper motor fits the rudder design to control the back-foil.	4-pins connector for power and control Connection information Color Function Red B+ Black A+ Blue B- Green A-
Water pump	The available waterpump: ZC-A210(24 V version)	2-pins connector Connection information Color Function Red 24v Black GND
Flowmeter	We have 2 flowmeters for inlet and outlet: DWS-MH-02	6-pins connector Connection information Color Function Red 5-24v Black GND Green 50k Temp Yellow Pulse out Red and Blue TDS sensor
Platform	Right now(10-11-2025) the Duet 3 1LC is available to use for prototyping. Other options are EBB 36 and SHT36 with TMC2209	Host listed connections above.