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# (c)opyright 2014, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 2.21 #
# experimental, use at your own risk #
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0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) miscellaneous
z) store parameters in ROM for motor use
------> a
a) PWM frequency: 21kHz
b) deadtime: 1999ns
c) dutycycle testsignal: 50%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals
g) autocomplete
h) loop sample frequency: 41.03 kHz
z) return to main menu
------> b
a) current sensor transimpedance: 12.50 mV/A
b) maximum motor phase current: 9.9 A
c) maximum battery current, motor use: 9.9 A
d) maximum battery current, regen: 0.0 A
e) autocomplete
f) HF current, base level (HF only): 0.4 A
g) HF current, proportional factor (HF only): 1.0000
h) maximum phase current in drive 2 (HF only): 4.7 A
i) phase current for forcing motor position: 1.9 A
j) maximum shutdown error current, fixed: 1.2 A
k) maximum shutdown error current, proportional: 1.2 A
l) applied braking current (phase) on direction change: 0.0 A
m) offset filtering (phase) current limit: 0.0 A
z) return to main menu
------> c
a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): 1.0000, 0.0000, 0.0000
d) polynomial coefficients throttle 2 (x, x^2, x^3): 1.0000, 0.0000, 0.0000
e) use analog throttle 1: YES
f) use analog throttle 2: NO
receive throttle over CAN: NO
g) TX throttle over CAN: YES
h) test throttle
z) return to main menu
------> d
a) erpm limit, forward: 99.97 k-erpm
b) erpm limit, reverse: 19.98 k-erpm
c) accept direction change below: 75 erpm
d) transition erpm drive 2 -> 3: 976 erpm
e) transition erpm drive 3 -> 2: 488 erpm
z) return to main menu
------> e
a) battery voltage: 20.0 V
z) return to main menu
------> f
a) restore calibration, autocomplete
b) perform offset measurement
sensor a: 0.0 mV
sensor b: 0.0 mV
sensor c: 0.0 mV
c) perform gain measurement
channel a: 99.99 %
channel b: 99.99 %
channel c: 99.99 %
d) online gain calibration update rate: 0.302 %
z) return to main menu
------> g
a) autocomplete
phase control loop, drive 3
b) 1st order: 240
c) 2nd order: 12.0000
d) 3rd order: 0.2999
phase control loop, drive 2
e) 1st order: 480
f) 2nd order: 24.0000
g) 3rd order: 0.0299
amplitude control loop
h) 1st order: 60
i) 2nd order: 3.0000
j) 3rd order: 0.0000
k) maximum amplitude: 100 %
z) return to main menu
------> h
a) autocomplete
b) throttle current filter -3dB freq: 100 Hz
c) error current 50% step response time: 5.005 msec
d) induction position filter 45 degree delay speed: 3.95 k-erpm
e) drive 2 speed filter 50% step response time: 228.4 msec
z) return to main menu
------> i
a) autocomplete
b) FOC measurement current: 4.9 A
c) FOC measurement erpm: 56.35 k-erpm
d) perform impedance measurement
measured inductance: 25.4 uH
z) return to main menu
------> j
a) CAN 'address': 1
b) CAN CFG1 as per Microchip 30F manual: 14
c) CAN CFG2 as per Microchip 30F manual: 664
RS232 output rate: 3730 Hz
z) return to main menu
------> k
a) autocomplete
phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 19.9 A
i) pulse width: 19 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.1 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
exit from startup to recovery at current
p) current to check: total current
q) fixed part: 79.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec
z) return to main menu
------> l
a) autocomplete
b) motor standstill voltage threshold: 0.00 V
c) low side pulsing in drive 0: enabled
d) low side pulsing rate: 20 Hz
e) low side pulsing width: 20 usec
f) wiggle range: 19 deg
g) wiggle rate: 10 Hz
h) minimum # of cycles going from drive 2 to 3: 1000
i) number of cycles going from drive 3 to 2, HF only: 200
z) return to main menu
