Express pcb is pricey but i needed something fast i have very little time and im turnin away work for my buisness at 60$ an hour! Ill learn some other programs soon. If we can transfer the expresspcb to gerber that will work too. Its not so bad if you make a layout with multiple boards on one layout!
Lebowski's motor controller IC, schematic & setup, new v2.A1
- Thread starter Lebowski
- Start date
Lebowski
10 MW
hmmm, express PCB does not look cheaper than the one I use. From what I calculate
the cheapest PCB express equivalent to my order cpsts about the same to what I paid for
my boards, but mine have the green protective coating, gold plated solder islands and a
silkscreen...
the cheapest PCB express equivalent to my order cpsts about the same to what I paid for
my boards, but mine have the green protective coating, gold plated solder islands and a
silkscreen...
deVries
100 kW
1) Just as a WAG, about how long time-wise till you have a kit that can do sensorless starts from a stopped position?
2) Could you list the versions you have planned & what each will do, plus approximate ETA's, so someone can get an idea of where to "hop on" your rides.
Alan B
100 GW
For small run PCBs how about $1.67 per square inch in qty 3:
https://oshpark.com/ OSH Park printed circuit boards
edit - updated the link to their new website
By now I've run about a dozen designs through them.
For slightly larger quantities 5-20 SeeedStudio has some good pricing.
https://oshpark.com/ OSH Park printed circuit boards
edit - updated the link to their new website
By now I've run about a dozen designs through them.
For slightly larger quantities 5-20 SeeedStudio has some good pricing.
Hmm, I'm actually quite finished with my controller, but I've hit a major bump.
I employ both Field Oriented Controll and Space Vector Modulation. Both methods are patented. Then again, you would need a electron microscope to read the flash memory on my uC after I blow the programming fuses. When I look up more stuff that my controllers do, there is patents everywhere
Oversampling, patent. Hall sensor for motor controll, patent. Bemf sampling, patent. ZVS, patent. :| srsly?
Paying royalties would most likely put my controller out of the price range compared to cheap china controllers. I'm not quite sure what I should do, have you given this any thougth? I'm not some anonomous chinese being able to hide over the pond. Is this a problem? Now I can speculate as to why Sevcons are damn hard to program and work with.
I employ both Field Oriented Controll and Space Vector Modulation. Both methods are patented. Then again, you would need a electron microscope to read the flash memory on my uC after I blow the programming fuses. When I look up more stuff that my controllers do, there is patents everywhere
Oversampling, patent. Hall sensor for motor controll, patent. Bemf sampling, patent. ZVS, patent. :| srsly?Paying royalties would most likely put my controller out of the price range compared to cheap china controllers. I'm not quite sure what I should do, have you given this any thougth? I'm not some anonomous chinese being able to hide over the pond. Is this a problem? Now I can speculate as to why Sevcons are damn hard to program and work with.
Kin
10 kW
If you don't intend on going too big of a scale, I've been told that you can sell "kits" without impunity as long as you don't really sell the methods of putting them together into patented products. I went to a talk by an MIT professor who was doing that for certain medical equipment to get it to nicaragua.
If you apply a vacuum in a certain way to tramatic flesh wounds, you can rapidly stop the bleeding. The company that patented this aggressively pursues everyone trying to sell the device made of $25 of material, which they sell for much >$500. So he makes kits of parts that happen to make them, and sells them to his partners in Nicaragua.
Your case is particular though, because I don't know how you could manage to simultaneously protect your code and not sell the code with patented techniques. Jesus, software patents are really awkward.
If you apply a vacuum in a certain way to tramatic flesh wounds, you can rapidly stop the bleeding. The company that patented this aggressively pursues everyone trying to sell the device made of $25 of material, which they sell for much >$500. So he makes kits of parts that happen to make them, and sells them to his partners in Nicaragua.
Your case is particular though, because I don't know how you could manage to simultaneously protect your code and not sell the code with patented techniques. Jesus, software patents are really awkward.
Protecting code is not impossible. AVR has some methods I'm aware of. First is RSTDISLB, a fuse that can be enabled so that you cannot read or write the code. However easily overcome by HVPP/HVSP, even I could overcome this. Lockbits are next, not sure how to overcome them - but hackers charge 500 dollars to break them. The most secure I can come up with is a secured bootloader - and encapsulating my uC in som epoxy
Software patents - yep, its a weird jungle xD
Software patents - yep, its a weird jungle xD
Teh stork you should show us some of your working controllers. And you should just come up with new ideas and patent them. Or make it open source/public knowledge. I really would not worry about patents unless you start selling a lot of them they have no interest in suing someone for $5
Nooo (A part of me really wants to tho), I'm a secretive guy - I'm lightyears ahead of the chinese and I've logged so many hours this is not a OS project (I've used more time on this than one half schoolyear's worth of studying). (And yes, I do have OS projects elsewhere - and they're a royal pain in the ass with all the newbs asking me questions). There are two features that I really want to have on my controller, but they are proving harder than expected. The first is syncronous rectification in the +-4ns low-hi switch on off matching. I copied TI's Predictive Gate driver algorithm, this worked, but would kill a fet every now and then for unexplainable reasons. I'm now sampling the pos overswing during switch and (if this is too high), the deadtimes is reduced - and heigthened each time the spike is "low enough" (This is employed in many flybacks). Still fets are randomly exploding, just not at the same rate. Maybe there is a different fault somewhere - but this is one of the last obstacle I have. Still, the part count for the latter algorithm is far lower, so I'm sticking with it.
There will soon be prototypes avatible to specific members of the ES board. The innovation in this controller is much in the pcb layout and thermal design.
Stats:
- Irfp4468 fets (x6)
- RL snubbers (much alike to RC snubbers) (to spare the caps for the dissipation, and to reduce EMI)
- 'Synchronous inverter' (2 separate dead times for lo-hi and hi-lo transitions)
- 2,6mF low esr electrolytic decoupling
- 40uF ceramic decoupling
- Switchreg 100v-12v, abillity to supply up to 2A to lights and such
- Hall startup
- Foc operation
- True current throttle, settable max-min references
- Cruise controll with PID loop
- 100mm * 80mm * 50mm enclosure
- Three current sensors for true 100% duty cycle operation
- Continous operation at 80V110A, peak at same (limited by current sensors, plan to make 'overdrive' possible - second feature not being complete)
- Atmel AVR xmega A series MCU
I actually was pretty bummed out a while ago, when I tried the controller on my hs3540 and it behaved just like my cheap infineon controller. I could not figure out what was wrong at the time and got down in a blac and bldc motor confusion that nearly made me scrap my project. Turned out later it never transitioned into FOC controll, and when I tried it with new parameters and it worked - I got my enthusiasm up again it is soo silent compared to the v/f controll.
There will soon be prototypes avatible to specific members of the ES board. The innovation in this controller is much in the pcb layout and thermal design.
Stats:
- Irfp4468 fets (x6)
- RL snubbers (much alike to RC snubbers) (to spare the caps for the dissipation, and to reduce EMI)
- 'Synchronous inverter' (2 separate dead times for lo-hi and hi-lo transitions)
- 2,6mF low esr electrolytic decoupling
- 40uF ceramic decoupling
- Switchreg 100v-12v, abillity to supply up to 2A to lights and such
- Hall startup
- Foc operation
- True current throttle, settable max-min references
- Cruise controll with PID loop
- 100mm * 80mm * 50mm enclosure
- Three current sensors for true 100% duty cycle operation
- Continous operation at 80V110A, peak at same (limited by current sensors, plan to make 'overdrive' possible - second feature not being complete)
- Atmel AVR xmega A series MCU
I actually was pretty bummed out a while ago, when I tried the controller on my hs3540 and it behaved just like my cheap infineon controller. I could not figure out what was wrong at the time and got down in a blac and bldc motor confusion that nearly made me scrap my project. Turned out later it never transitioned into FOC controll, and when I tried it with new parameters and it worked - I got my enthusiasm up again
it is soo silent compared to the v/f controll.
Lebowski
10 MW
I won't have the problem of getting sued for using FOC or SVM 'cause the stuff I use is not known
in the literature I have the feeling I have a much more powerful algorithm, something which allows
specific methods to be used which will hopefully also allow sensorless startup under load without
changes to the current schematic.
There's no development schedule, it's a obsess...hobby so, it's finished when it's done. If i
don't find a new job though things will move along fast starting this October 'cause I won't
have anything better to do...
in the literature
I have the feeling I have a much more powerful algorithm, something which allowsspecific methods to be used which will hopefully also allow sensorless startup under load without
changes to the current schematic.
There's no development schedule, it's a obsess...hobby so, it's finished when it's done. If i
don't find a new job though things will move along fast starting this October 'cause I won't
have anything better to do...
Teh Stork, I wouldn't worry too much about patents. First. just because the patent talks about FOC, SVM, oversampling, and such, even if it describes these concepts in great and exacting detail, doesn't mean it actually patents FOC, SVM, or oversampling. You have to look at what is CLAIMED. Are you SURE those patents you see are valid, unexpired, AND claim the EXACT tech you are working on? Highly unlikely. But, don't answer that question here. :wink: I mean, how long have these concepts existed? Didn't Tesla invent the induction motor? I'm pretty sure those patents are expired. I know there have been advances since then, but a patent only lasts so long, and can only validly claim NEW stuff.
Second, if you start selling something you are probably only liable for their lost profits. Who owns the patent? Are they really going to have lost profits from your work? Maybe you might be liable for your profits, but are they really going to be able to prove that? It would likely cost the patent owner far more to sue you and win than to ignore you. Finally, as long as the patent owner is not a direct competitor, if you really are starting to make money on this, it is most likely they will just license the tech to you. I don't know what patents you are specifically referring to Teh Stork, but a lot of tech companies patent stuff like crazy not as a club to hit people with, but as a defensive measure. If they get the patent, then they don't have to worry about an independent inventor patenting it and suing them. Companies like Intel and IBM patent stuff every day. When is the last time you heard of Intel or IBM actually suing someone for patent violation? Heck, AMD managed to copy the entire x86 instruction set and produce a functional copy of their most important product and didn't lose a patent suit.
Third, you seem pretty sure that properly licensing someone else's tech would put your controller out of the range of a consumer. Do you have any idea what the price of a license would be? Sometimes these things are pennies. Sometimes not, but I just think your assumption is a little too strong.
Lebowski, if you really think that your methods and ideas are novel, you should consider patenting them. I know everyone immediately thinks that patents are expensive and useless. However, it might help if someone later disputes your claim to a novel invention. Also, patents are not actually that expensive. A few thousand dollars is nothing to protect a novel idea that you are hoping to keep proprietary and sell as a product/kit. How are you going to feel when you come out with your super controller, and then the Chinese copy it two weeks later and sell it for half price? Remember, once a concept has been proven and there is a working prototype, it is MUCH easier to reverse engineer, than it is to develop from scratch. Even just the knowledge that something can be done and works, often makes an independent development effort go MUCH faster and easier.
I wouldn't tool up and spend a bunch of money on inventory and supplies to sell something that you think might include inventions owned by another, getting shut down after a large capital outlay could cost you a bunch of money. But, a few (or even a lot of) kits made or sold to order seems pretty safe on balance. Just keep your inventory and capital costs low until you generate enough revenue to hire a real lawyer. But don't trust some internet stranger. Do your own research and thinking. Good luck to you all. I'm a silent lurker who wishes he had time to develop this kind of tech for the hobbyist, and hopes someone else does it for him.
I know there have been advances since then, but a patent only lasts so long, and can only validly claim NEW stuff.Second, if you start selling something you are probably only liable for their lost profits. Who owns the patent? Are they really going to have lost profits from your work? Maybe you might be liable for your profits, but are they really going to be able to prove that? It would likely cost the patent owner far more to sue you and win than to ignore you. Finally, as long as the patent owner is not a direct competitor, if you really are starting to make money on this, it is most likely they will just license the tech to you. I don't know what patents you are specifically referring to Teh Stork, but a lot of tech companies patent stuff like crazy not as a club to hit people with, but as a defensive measure. If they get the patent, then they don't have to worry about an independent inventor patenting it and suing them. Companies like Intel and IBM patent stuff every day. When is the last time you heard of Intel or IBM actually suing someone for patent violation? Heck, AMD managed to copy the entire x86 instruction set and produce a functional copy of their most important product and didn't lose a patent suit.
Third, you seem pretty sure that properly licensing someone else's tech would put your controller out of the range of a consumer. Do you have any idea what the price of a license would be? Sometimes these things are pennies. Sometimes not, but I just think your assumption is a little too strong.
Lebowski, if you really think that your methods and ideas are novel, you should consider patenting them. I know everyone immediately thinks that patents are expensive and useless. However, it might help if someone later disputes your claim to a novel invention. Also, patents are not actually that expensive. A few thousand dollars is nothing to protect a novel idea that you are hoping to keep proprietary and sell as a product/kit. How are you going to feel when you come out with your super controller, and then the Chinese copy it two weeks later and sell it for half price? Remember, once a concept has been proven and there is a working prototype, it is MUCH easier to reverse engineer, than it is to develop from scratch. Even just the knowledge that something can be done and works, often makes an independent development effort go MUCH faster and easier.
I wouldn't tool up and spend a bunch of money on inventory and supplies to sell something that you think might include inventions owned by another, getting shut down after a large capital outlay could cost you a bunch of money. But, a few (or even a lot of) kits made or sold to order seems pretty safe on balance. Just keep your inventory and capital costs low until you generate enough revenue to hire a real lawyer. But don't trust some internet stranger. Do your own research and thinking. Good luck to you all. I'm a silent lurker who wishes he had time to develop this kind of tech for the hobbyist, and hopes someone else does it for him.
Alan B
100 GW
Software patents are a real problem. They stifle innovation. Precisely the opposite of their stated purpose.
Heck, exclusive-or is patented.
Probably the best thing to do is sell your hardware at a profitable price, and give the software away. Even if not open source, figure out a way to give away the software, then there is nothing to go after profit wise on the software.
Problem is, if you invent something and don't patent it, and don't make it public, someone else can come along and patent it and take it away from you. So you either have to patent it yourself, or open it to protect yourself and prevent other patents. At something like 10k$ per patent can you afford to patent?
Another technique is to publicize it, but don't share your best source code. Share something that demonstrates it, but sell the optimal stuff. But it has to be different enough that the folks with patents don't go after you. Unfortunately they can go after you and drain your pockets even if their case doesn't have merit.
Patents aren't worth much unless you are willing to sue others who might infringe. It is a license to sue.
This stuff is too important to keep locked away.
The most valuable thing here is what you have learned, not any particular piece of code. Lots of folks can make even better code, but what they lack is the information about how things interact that guides the code development. The interaction of motion, magnetics and electrics.
Heck, exclusive-or is patented.
Probably the best thing to do is sell your hardware at a profitable price, and give the software away. Even if not open source, figure out a way to give away the software, then there is nothing to go after profit wise on the software.
Problem is, if you invent something and don't patent it, and don't make it public, someone else can come along and patent it and take it away from you. So you either have to patent it yourself, or open it to protect yourself and prevent other patents. At something like 10k$ per patent can you afford to patent?
Another technique is to publicize it, but don't share your best source code. Share something that demonstrates it, but sell the optimal stuff. But it has to be different enough that the folks with patents don't go after you. Unfortunately they can go after you and drain your pockets even if their case doesn't have merit.
Patents aren't worth much unless you are willing to sue others who might infringe. It is a license to sue.
This stuff is too important to keep locked away.
The most valuable thing here is what you have learned, not any particular piece of code. Lots of folks can make even better code, but what they lack is the information about how things interact that guides the code development. The interaction of motion, magnetics and electrics.
Okay, my fault for being off topic, But I can't resist. Patents are generally not as expensive as $10K. Big world changing inventions that affect entire segments of world industry and tech? Probably. Ground breaking biotech patents that claim something no one else has ever known or described? Probably. A new way to drive a type of motor that has existed since the time of tesla? Highly unlikely. If you as an individual are paying $10K for a patent, you are paying too much. Corporations pay that much or more, but they have a lot more overhead. They have to pay their patent attorneys. Their patent attorneys supervise the work of outside attorneys, who must be paid.Then the corps have to pay much higher filing fees than individuals. It all adds up. Individual inventors with "small" focused inventions, such as a new scheme for driving and controlling a specific subset of electric motor types (apologies if this is overly simplistic description of the inventions discussed here), should NOT cost $10K. Maybe half. Maybe.
The way you get a relatively inexpensive patent is to write down the invention really well. Not in patent language, but in technical language. Like you are writing a white paper, or a technical document. Describe it best you can, think of all the variations. Then give it to a good patent lawyer, not the most expensive lawyer. Not some newbie who doesn't know what he's doing. Someone with experience, and who has the time to give you personal service. Then let him/her turn that into a patent and file it for you.
Alternatively write it up yourself and file it. Read a bunch of similar patents and get a feel for how they are supposed to be done. Read the how to patent it yourself manual you got from amazon. I think you are better off going with a pro, but hey, this is a rather diy board. Plenty of people have successfully obtained patents without using a pro. It is NOT impossible, or improbable. DIY, your total cost should be under 1K. If your goal is to sue people with the patent, then you'll have to file in every country you want to sue people in. If your goal is to prove that it was your idea, and someone else shouldn't get a patent on it, and most certainly shouldn't sue you for practicing the invention, then one country is enough, and you don't necessarily have to get a successful patent (published patent application is enough to show prior publication of invention).
The writing your stuff up and publishing it, IS a way to go. But you have to publish it in a way that it is actually, you know, published. Some sort of journal or something. It's not at all clear that a posting on endlesssphere would count. And yes, you can try to do it in such a way that the idea is out there, but the implementation is secret. Good luck with that. Again, it can be done, but it is difficult.
Okay, I'm back to lurking. Sorry for the off-topic rant.
The way you get a relatively inexpensive patent is to write down the invention really well. Not in patent language, but in technical language. Like you are writing a white paper, or a technical document. Describe it best you can, think of all the variations. Then give it to a good patent lawyer, not the most expensive lawyer. Not some newbie who doesn't know what he's doing. Someone with experience, and who has the time to give you personal service. Then let him/her turn that into a patent and file it for you.
Alternatively write it up yourself and file it. Read a bunch of similar patents and get a feel for how they are supposed to be done. Read the how to patent it yourself manual you got from amazon. I think you are better off going with a pro, but hey, this is a rather diy board. Plenty of people have successfully obtained patents without using a pro. It is NOT impossible, or improbable. DIY, your total cost should be under 1K. If your goal is to sue people with the patent, then you'll have to file in every country you want to sue people in. If your goal is to prove that it was your idea, and someone else shouldn't get a patent on it, and most certainly shouldn't sue you for practicing the invention, then one country is enough, and you don't necessarily have to get a successful patent (published patent application is enough to show prior publication of invention).
The writing your stuff up and publishing it, IS a way to go. But you have to publish it in a way that it is actually, you know, published. Some sort of journal or something. It's not at all clear that a posting on endlesssphere would count. And yes, you can try to do it in such a way that the idea is out there, but the implementation is secret. Good luck with that. Again, it can be done, but it is difficult.
Okay, I'm back to lurking. Sorry for the off-topic rant.
Three years ago I had a provisional patent on an heatpump/engine design to compeat with the stirling engine. I had ~$1500 into the provisional patent alone and it would have been ~ $6000-7500 to get the reast of the way for a full patent! They are not cheep! I had it with investerhome which yes is a company to make money but they were my best bet to get the info out to other companys to get them to purchas rights to it!
Lebowski
How does this thing takes its phase voltage mesurement? Does it compare Phase A and B and C to each other or Does it compare each to ground?
The reason Im asking is. Im wondering if I can leave my powerstage powered by 5v on the ic side of the ir2113 and 12v on the output side for the gate drives and leave the grounds seprate? Or is this a realy bad idea? It may tie the grounds together in my powersupplies anyway.
How does this thing takes its phase voltage mesurement? Does it compare Phase A and B and C to each other or Does it compare each to ground?
The reason Im asking is. Im wondering if I can leave my powerstage powered by 5v on the ic side of the ir2113 and 12v on the output side for the gate drives and leave the grounds seprate? Or is this a realy bad idea? It may tie the grounds together in my powersupplies anyway.
Lebowski
10 MW
You got Gordons chip to go into drive 3 ? That would be really cool 
can you post all your settings ?
can you post all your settings ?Not that far yet. I got it to spin colossus on the dummy chip then I switched to gordo's chip and set it up and as soon as I turned the throttle I popped a mosfet. I have to remove them all and make a small change in the way I mount them because the last time there was a touch of pressure at the tops of the fets causing a small crack in the plastic as I tighted them. I figured I would leave them in till now because I didn't want to wreck good fets if Im getting it all set up.Lebowski said:You got Gordons chip to go into drive 3 ? That would be really cool
Fets are fine i hit the hold button on my scope lol and the powersupply was fauly!
Where do I go from here?
[youtube]rGkxre_IOwg[/youtube]
Where do I go from here?
[youtube]rGkxre_IOwg[/youtube]
Code:
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> a
a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------> b
Spin the motor then press any key to start measurement
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a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------> c
hall 1, hall 2, hall 3
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a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> b
a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> a
new value -> 700
a] number of back-emf samples: 700
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 700
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b]
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 700
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b
Spin the motor then press any key to start measurement
Sampling...
coil position capture failed
a] number of back-emf samples: 700
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b]
Spin the motor then press any key to start measurement
Sampling...
coil position capture failed
a] number of back-emf samples: 700
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b
Spin the motor then press any key to start measurement
Sampling...
coil position capture failed
a] number of back-emf samples: 700
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b]
Spin the motor then press any key to start measurement
Sampling...
coil position capture successfull
data arrays now contain sampled back-emf waveforms
a] number of back-emf samples: 700
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> d
data A, data B, data C
.4482 .3486 .8287
.4519 .3735 .8514
.4537 .3933 .8653
.4460 .4046 .8697
.4324 .4112 .8664
.4251 .4233 .8701
.4211 .4420 .8759
.4178 .4584 .8829
.4105 .4716 .8843
.3980 .4812 .8789
.3859 .4925 .8712
.3731 .5061 .8613
.3629 .5229 .8540
.3511 .5408 .8466
.3424 .5610 .8426
.3383 .5852 .8426
.3394 .6123 .8448
.3471 .6452 .8518
.3618 .6851 .8649
.3775 .7265 .8818
.3980 .7716 .9023
.4116 .8100 .9180
.4211 .8378 .9250
.4277 .8649 .9243
.4200 .8734 .9012
.4094 .8741 .8785
.3980 .8726 .8554
.3859 .8715 .8309
.3742 .8668 .8027
.3614 .8602 .7712
.3500 .8503 .7357
.3402 .8433 .6990
.3347 .8393 .6643
.3347 .8441 .6375
.3427 .8558 .6214
.3552 .8693 .6079
.3695 .8836 .5980
.3870 .8983 .5888
.4024 .9114 .5771
.4152 .9228 .5650
.4262 .9309 .5518
.4277 .9298 .5346
.4222 .9217 .5148
.4042 .8920 .4661
.3925 .8693 .4343
.3830 .8474 .4039
.3775 .8294 .3757
.3782 .8184 .3555
.3863 .8133 .3416
.3973 .8096 .3306
.4116 .8049 .3215
.4339 .8052 .3200
.4687 .8166 .3288
.5126 .8367 .3471
.5635 .8638 .3709
.6097 .8873 .3914
.6518 .9060 .4079
.6829 .9144 .4160
.7119 .9177 .4222
.7316 .9122 .4196
.7441 .9005 .4097
.7551 .8869 .3973
.6357 .7305 .3215
.3848 .4357 .1878
.7708 .8620 .3739
.7749 .8499 .3640
.7760 .8298 .3511
.7745 .8089 .3380
.7734 .7873 .3262
.7741 .7672 .3178
.7829 .7551 .3153
.8001 .7496 .3229
.8247 .7525 .3402
.8536 .7584 .3643
.8789 .7584 .3859
.8990 .7500 .4035
.9177 .7390 .4185
.9290 .7214 .4248
.9276 .6903 .4185
.9188 .6547 .4057
.9071 .6174 .3940
.8939 .5782 .3823
.8803 .5386 .3698
.8679 .5017 .3574
.8565 .4661 .3457
.8437 .4321 .3336
.8291 .4028 .3233
.8045 .3592 .3127
.7976 .3420 .3171
.8093 .3413 .3402
.8375 .3596 .3823
.8748 .3856 .4313
.9071 .4097 .4797
.9268 .4244 .5192
.9349 .4306 .5529
.9342 .4281 .5804
.9290 .4204 .6035
.9206 .4083 .6218
.9114 .3969 .6375
.8990 .3845 .6507
.8865 .3728 .6632
.8715 .3621 .6756
.8565 .3500 .6877
.8422 .3380 .6990
.8294 .3277 .7100
.6829 .2702 .5969
.8166 .3200 .7327
.8166 .3237 .7423
.8206 .3383 .7686
.8294 .3592 .7976
.8430 .3845 .8331
.8576 .4108 .8686
.8620 .4284 .8950
.8525 .4328 .9067
.8291 .4266 .9056
.7957 .4141 .8950
.7602 .4020 .8833
.7239 .3900 .8726
.6892 .3775 .8635
.6540 .3643 .8551
.6188 .3530 .8452
.5852 .3405 .8349
.5504 .3306 .8228
.5181 .3229 .8137
.4899 .3193 .8082
.4698 .3229 .8093
.4573 .3350 .8195
.1490 .1065 .2647
a] number of back-emf samples: 700
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> c
data arrays now contain reconstructed back-emf waveforms
a] number of back-emf samples: 700
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> d
data A, data B, data C
-.3420 -.5042 .4876
-.3507 -.4740 .5225
-.3611 -.4469 .5588
-.3749 -.4231 .5928
-.3934 -.4025 .6212
-.4169 -.3844 .6411
-.4458 -.3677 .6503
-.4793 -.3515 .6481
-.5164 -.3344 .6347
-.5555 -.3151 .6122
-.5946 -.2918 .5836
-.6309 -.2631 .5532
-.6619 -.2272 .5254
-.6848 -.1825 .5046
-.6973 -.1278 .4946
-.6978 -.0626 .4975
-.6858 .0127 .5140
-.6622 .0968 .5427
-.6292 .1866 .5802
-.5903 .2784 .6214
-.5501 .3674 .6605
-.5137 .4485 .6910
-.4858 .5167 .7073
-.4705 .5682 .7047
-.4704 .6005 .6807
-.4862 .6129 .6350
-.5162 .6071 .5698
-.5568 .5870 .4891
-.6030 .5577 .3987
-.6485 .5257 .3052
-.6871 .4975 .2151
-.7131 .4788 .1339
-.7227 .4737 .0657
-.7142 .4841 .0126
-.6883 .5095 -.0257
-.6484 .5468 -.0516
-.5994 .5910 -.0691
-.5480 .6361 -.0829
-.5007 .6753 -.0982
-.4635 .7030 -.1195
-.4407 .7148 -.1503
-.4345 .7089 -.1924
-.4443 .6855 -.2454
-.4672 .6479 -.3078
-.4978 .6006 -.3759
-.5297 .5499 -.4454
-.5558 .5025 -.5116
-.5697 .4639 -.5699
-.5660 .4389 -.6163
-.5417 .4300 -.6481
-.4960 .4374 -.6640
-.4303 .4592 -.6642
-.3486 .4918 -.6501
-.2557 .5304 -.6244
-.1578 .5698 -.5905
-.0606 .6047 -.5522
.0301 .6315 -.5135
.1106 .6473 -.4781
.1782 .6510 -.4492
.2318 .6430 -.4293
.2720 .6249 -.4200
.3005 .5992 -.4220
.3196 .5687 -.4348
.3324 .5363 -.4575
.3419 .5040 -.4877
.3506 .4739 -.5226
.3610 .4468 -.5589
.3748 .4230 -.5929
.3932 .4023 -.6214
.4168 .3842 -.6413
.4456 .3676 -.6505
.4791 .3514 -.6482
.5163 .3343 -.6349
.5555 .3149 -.6124
.5946 .2917 -.5838
.6308 .2630 -.5534
.6618 .2271 -.5255
.6847 .1823 -.5048
.6972 .1277 -.4948
.6977 .0624 -.4977
.6857 -.0128 -.5142
.6621 -.0968 -.5429
.6291 -.1867 -.5803
.5902 -.2785 -.6216
.5501 -.3675 -.6607
.5136 -.4486 -.6912
.4857 -.5169 -.7074
.4704 -.5683 -.7048
.4703 -.6006 -.6809
.4860 -.6129 -.6352
.5159 -.6072 -.5700
.5567 -.5871 -.4893
.6029 -.5578 -.3989
.6483 -.5258 -.3054
.6869 -.4976 -.2153
.7129 -.4789 -.1341
.7225 -.4738 -.0659
.7140 -.4842 -.0127
.6882 -.5096 .0256
.6482 -.5469 .0515
.5993 -.5911 .0690
.5478 -.6361 .0828
.5005 -.6754 .0980
.4633 -.7031 .1194
.4406 -.7149 .1502
.4344 -.7089 .1922
.4443 -.6857 .2453
.4670 -.6479 .3077
.4977 -.6007 .3758
.5296 -.5501 .4453
.5557 -.5026 .5115
.5695 -.4641 .5697
.5659 -.4391 .6161
.5415 -.4302 .6480
.4958 -.4375 .6639
.4302 -.4593 .6641
.3484 -.4920 .6500
.2555 -.5306 .6243
.1576 -.5699 .5903
.0605 -.6049 .5521
-.0302 -.6317 .5134
-.1107 -.6474 .4780
-.1783 -.6511 .4491
-.2319 -.6431 .4292
-.2722 -.6251 .4199
-.3006 -.5994 .4219
-.3197 -.5689 .4348
-.3326 -.5364 .4574
a] number of back-emf samples: 700
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> c
a) PWM frequency: 20kHz
b) deadtime: 1499ns
c) dutycycle testsignal: 50%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> e
a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 307.1999
c) 2nd order phase loop integrator coefficient: 0.0199
d) amplitude loop integrator coefficient: 12.8999
e) maximum amplitude: 200 %
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> f
a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
d) polynomial coefficients throttle 2 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: NO
receive throttle over CAN: NO
g) TX throttle over CAN: NO
h) test throttle
z) return to main menu
------> h
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
21 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1 F - X +
2 1| F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
21 | F - X +
21 | F - X +
21 | F - X +
21 | F - X +
21 | F - X +
21 | F - X +
21 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1| F - X +
2 1| F - X +
2 1| F - X +
2 1| F - X +
2 1| F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 1 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
2 | F - X +
a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
d) polynomial coefficients throttle 2 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: NO
receive throttle over CAN: NO
g) TX throttle over CAN: NO
h) test throttle
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> g
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 278
d} e-rpm reached before transition: 75 %
e} minimum current push start: 1.2 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 1500
h] transition time sensored to sensorless: 299 milli-sec
i) return to motor start below 107 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 99.97 k-erpm
m) motor maximum, reverse: 99.97 k-erpm
n) motor standstill voltage threshold: 0.49 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> d
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 5
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> k
default values restored
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 5
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> h
a) CAN 'address': 16383
b) CAN CFG1 as per Microchip 30F manual: 65535
c) CAN CFG2 as per Microchip 30F manual: 65535
RS232 output rate: 3802 Hz
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> h
a) CAN 'address': 16383
b) CAN CFG1 as per Microchip 30F manual: 65535
c) CAN CFG2 as per Microchip 30F manual: 65535
RS232 output rate: 3802 Hz
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> [00][00]Lebowski
10 MW
OK lets see whats going on. First thing, your back-emf measurement is messed up, doesn't look nearly as good as the results you
had before ?
Easiest is to remove the 15V power supply from the driver IC's but keep battery supply connected when you do back-emf measurement.
Or remove the driver IC's from the sockets when doing this measurment. The result has to look like a sine wave of some sort.
PWM menu
a) PWM frequency: 20kHz
b) deadtime: 1499ns are you sure this is correct ? how about 600 ns ?
c) dutycycle testsignal: 50%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals
z) return to main menu
control loop settings menu, settings calculated with y=1024, LRdelay=0.5msec, 38 kHz loopfreq and 20 kHz PWM
a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 307.1999 change to 53.9
c) 2nd order phase loop integrator coefficient: 0.0199 change to 0.315
d) amplitude loop integrator coefficient: 12.8999 change to 2.3
e) maximum amplitude: 200 %
z) return to main menu
throttle menu:
a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): -0.0002, -0.0002, -0.0002 change to 1, 0, 0
d) polynomial coefficients throttle 2 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: NO
receive throttle over CAN: NO
g) TX throttle over CAN: NO
h) test throttle
z) return to main menu
in the "80-ies racing game" you can see the "1" is moving with the throttle, showing the controller sees the throttle and
processes into the 0-1 range correctly. The "X", which indicates the value which is actually multiplied with the phase
current to determine the torque, does not move. This because the coefficients under setting "c" are all 0. Change those
as indicated for a linear throttle.
running modes menu
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 278
d} e-rpm reached before transition: 75 %
e} minimum current push start: 1.2 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 1500 seems high, change to 500
h] transition time sensored to sensorless: 299 milli-sec
i) return to motor start below 107 erpm change to 200
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 99.97 k-erpm
m) motor maximum, reverse: 99.97 k-erpm
n) motor standstill voltage threshold: 0.49 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu
current settings menu
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 5 I always use 7
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration did you remember to select this option before saving ? has to be selected and saved at least once ! Spoke to soon, just saw you did all this
z) return to main menu
lets see whats going on. First thing, your back-emf measurement is messed up, doesn't look nearly as good as the results youhad before ?
Easiest is to remove the 15V power supply from the driver IC's but keep battery supply connected when you do back-emf measurement.
Or remove the driver IC's from the sockets when doing this measurment. The result has to look like a sine wave of some sort.
PWM menu
a) PWM frequency: 20kHz
b) deadtime: 1499ns are you sure this is correct ? how about 600 ns ?
c) dutycycle testsignal: 50%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals
z) return to main menu
control loop settings menu, settings calculated with y=1024, LRdelay=0.5msec, 38 kHz loopfreq and 20 kHz PWM
a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 307.1999 change to 53.9
c) 2nd order phase loop integrator coefficient: 0.0199 change to 0.315
d) amplitude loop integrator coefficient: 12.8999 change to 2.3
e) maximum amplitude: 200 %
z) return to main menu
throttle menu:
a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): -0.0002, -0.0002, -0.0002 change to 1, 0, 0
d) polynomial coefficients throttle 2 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: NO
receive throttle over CAN: NO
g) TX throttle over CAN: NO
h) test throttle
z) return to main menu
in the "80-ies racing game" you can see the "1" is moving with the throttle, showing the controller sees the throttle and
processes into the 0-1 range correctly. The "X", which indicates the value which is actually multiplied with the phase
current to determine the torque, does not move. This because the coefficients under setting "c" are all 0. Change those
as indicated for a linear throttle.
running modes menu
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 278
d} e-rpm reached before transition: 75 %
e} minimum current push start: 1.2 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 1500 seems high, change to 500
h] transition time sensored to sensorless: 299 milli-sec
i) return to motor start below 107 erpm change to 200
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 99.97 k-erpm
m) motor maximum, reverse: 99.97 k-erpm
n) motor standstill voltage threshold: 0.49 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu
current settings menu
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 5 I always use 7
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration did you remember to select this option before saving ? has to be selected and saved at least once ! Spoke to soon, just saw you did all this
z) return to main menu
I was just experimenting with dead time.
I will try a higher sample number for the coil positions when I bring my drill home from my shop.
I will try to unhook the driver ic's but I think the power to the phase voltage feads strait though the caps I will look at it as well.
I will try a higher sample number for the coil positions when I bring my drill home from my shop.
I will try to unhook the driver ic's but I think the power to the phase voltage feads strait though the caps I will look at it as well.
OK with the driver IC's out I only have .5 volts at pin 5,7 and 8 so I had to have them in then I get 1.6v at those pins. And it let me calibrate... I got this much but now Im stuck in drive 0 so... I will come back to it tonight. I have to go help friends move
Code:
[00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> b
a] number of back-emf samples: 700
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> a
new value -> 1500
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b]
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b]
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b]
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b]
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------>
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b]
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> [00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> b
a] number of back-emf samples: 700
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> a
new value -> 1500
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b]
Spin the motor then press any key to start measurement
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b
Spin the motor then press any key to start measurement
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b]
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b
Spin the motor then press any key to start measurement
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b]
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture failed
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture successfull
data arrays now contain sampled back-emf waveforms
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> d
data A, data B, data C
-.7432 -.8763 -.0955
-.7695 -.8695 -.0968
-.7884 -.8565 -.0968
-.8047 -.8410 -.0968
-.8197 -.8232 -.0964
-.8340 -.8043 -.0964
-.8481 -.7853 -.0961
-.8600 -.7642 -.0959
-.8677 -.7379 -.0946
-.8710 -.7045 -.0942
-.8726 -.6652 -.0932
-.8741 -.6223 -.0921
-.8772 -.5802 -.0906
-.8812 -.5377 -.0899
-.8856 -.4987 -.0897
-.8878 -.4592 -.0904
-.8869 -.4191 -.0911
-.8856 -.3788 -.0926
-.8845 -.3383 -.0928
-.8853 -.3006 -.0928
-.8847 -.2642 -.0908
-.8069 -.2145 -.0805
-.8772 -.2065 -.0869
-.8692 -.1783 -.0886
-.8510 -.1343 -.0948
-.8406 -.1093 -.1025
-.8432 -.0952 -.1235
-.8556 -.0930 -.1552
-.8673 -.0924 -.1895
-.8745 -.0919 -.2259
-.8774 -.0924 -.2664
-.8792 -.0922 -.3099
-.8822 -.0913 -.3566
-.8878 -.0897 -.4046
-.8942 -.0888 -.4500
-.8979 -.0878 -.4916
-.8984 -.0871 -.5317
-.8970 -.0871 -.5716
-.8957 -.0878 -.6117
-.8950 -.0882 -.6524
-.8944 -.0884 -.6893
-.8917 -.0889 -.7218
-.8869 -.0899 -.7479
-.8737 -.0917 -.7754
-.8534 -.0933 -.7966
-.8355 -.0950 -.8120
-.8175 -.0957 -.8278
-.7988 -.0953 -.8433
-.7769 -.0935 -.8551
-.7507 -.0910 -.8627
-.7172 -.0888 -.8646
-.6802 -.0884 -.8660
-.6406 -.0886 -.8677
-.6013 -.0886 -.8719
-.5634 -.0893 -.8774
-.5255 -.0891 -.8827
-.4887 -.0902 -.8864
-.4504 -.0922 -.8871
-.4094 -.0933 -.8843
-.3695 -.0948 -.8820
-.3277 -.0933 -.8792
-.2883 -.0915 -.8776
-.1973 -.0682 -.6571
-.1569 -.0598 -.5835
-.2145 -.0908 -.8732
-.1902 -.0919 -.8677
-.1604 -.0942 -.8576
-.1320 -.0977 -.8461
-.1076 -.1054 -.8362
-.0961 -.1267 -.8388
-.0924 -.1563 -.8488
-.0913 -.1884 -.8583
-.0906 -.2222 -.8649
-.0911 -.2592 -.8677
-.0911 -.2995 -.8686
-.0917 -.3451 -.8713
-.0917 -.3916 -.8756
-.0911 -.4379 -.8816
-.0895 -.4806 -.8854
-.0871 -.5198 -.8851
-.0855 -.5590 -.8823
-.0853 -.5972 -.8796
-.0864 -.6379 -.8798
-.0871 -.6762 -.8811
-.0886 -.7111 -.8825
-.0902 -.7399 -.8822
-.0919 -.7628 -.8781
-.0948 -.7959 -.8565
-.0961 -.8124 -.8397
-.0959 -.8283 -.8219
-.0957 -.8435 -.8031
-.0944 -.8574 -.7818
-.0930 -.8662 -.7549
-.0917 -.8710 -.7214
-.0917 -.8741 -.6828
-.0915 -.8778 -.6395
-.0906 -.8820 -.5967
-.0902 -.8882 -.5559
-.0902 -.8930 -.5167
-.0908 -.8959 -.4779
-.0897 -.8939 -.4376
-.0902 -.8911 -.3955
-.0906 -.8889 -.3537
-.0908 -.8889 -.3143
-.0917 -.8887 -.2790
-.0836 -.8122 -.2266
-.0919 -.8800 -.2199
-.0928 -.8734 -.1968
-.0937 -.8594 -.1651
-.0963 -.8413 -.1307
-.1047 -.8318 -.1060
-.1270 -.8353 -.0948
-.1569 -.8452 -.0917
-.1904 -.8552 -.0919
-.2257 -.8611 -.0917
-.2634 -.8629 -.0930
-.3041 -.8649 -.0939
-.3477 -.8668 -.0939
-.3898 -.8719 -.0928
-.4324 -.8774 -.0913
-.4714 -.8801 -.0893
-.5099 -.8805 -.0891
-.5480 -.8801 -.0906
-.5868 -.8785 -.0921
-.6258 -.8767 -.0930
-.6643 -.8767 -.0935
-.6990 -.8765 -.0941
-.5408 -.6531 -.0708
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> c
data arrays now contain reconstructed back-emf waveforms
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> d
data A, data B, data C
-.4314 -.6116 .5738
-.4746 -.6076 .5755
-.5131 -.6004 .5810
-.5466 -.5880 .5895
-.5746 -.5687 .5998
-.5973 -.5413 .6108
-.6151 -.5051 .6211
-.6284 -.4601 .6296
-.6381 -.4070 .6356
-.6452 -.3470 .6387
-.6503 -.2818 .6393
-.6544 -.2131 .6378
-.6578 -.1425 .6354
-.6609 -.0715 .6330
-.6634 -.0011 .6316
-.6651 .0676 .6319
-.6657 .1346 .6343
-.6648 .1993 .6383
-.6623 .2617 .6432
-.6582 .3215 .6477
-.6529 .3782 .6502
-.6468 .4312 .6491
-.6408 .4797 .6426
-.6356 .5229 .6293
-.6320 .5600 .6083
-.6307 .5905 .5793
-.6318 .6143 .5422
-.6353 .6315 .4974
-.6409 .6427 .4457
-.6479 .6492 .3883
-.6556 .6519 .3262
-.6631 .6524 .2607
-.6698 .6519 .1926
-.6752 .6512 .1229
-.6790 .6508 .0524
-.6815 .6510 -.0179
-.6828 .6513 -.0877
-.6831 .6512 -.1561
-.6831 .6502 -.2221
-.6825 .6477 -.2849
-.6812 .6435 -.3436
-.6788 .6376 -.3976
-.6742 .6304 -.4461
-.6662 .6228 -.4886
-.6536 .6158 -.5252
-.6350 .6105 -.5558
-.6094 .6076 -.5810
-.5761 .6079 -.6013
-.5347 .6112 -.6175
-.4858 .6174 -.6301
-.4300 .6253 -.6398
-.3685 .6340 -.6469
-.3029 .6420 -.6516
-.2347 .6483 -.6539
-.1653 .6519 -.6535
-.0962 .6523 -.6504
-.0282 .6497 -.6446
.0379 .6448 -.6362
.1019 .6383 -.6258
.1635 .6313 -.6141
.2226 .6249 -.6021
.2793 .6199 -.5910
.3332 .6164 -.5820
.3840 .6138 -.5761
.4313 .6114 -.5739
.4745 .6075 -.5756
.5130 .6002 -.5811
.5464 .5879 -.5896
.5745 .5685 -.6000
.5972 .5412 -.6109
.6150 .5049 -.6213
.6283 .4599 -.6297
.6380 .4068 -.6357
.6450 .3468 -.6389
.6502 .2817 -.6394
.6543 .2129 -.6380
.6578 .1424 -.6355
.6607 .0714 -.6331
.6632 .0010 -.6317
.6650 -.0677 -.6321
.6656 -.1347 -.6344
.6647 -.1995 -.6384
.6623 -.2619 -.6434
.6582 -.3216 -.6479
.6528 -.3783 -.6504
.6467 -.4313 -.6492
.6407 -.4798 -.6427
.6355 -.5230 -.6294
.6319 -.5601 -.6085
.6305 -.5906 -.5795
.6316 -.6144 -.5423
.6351 -.6316 -.4975
.6408 -.6428 -.4459
.6477 -.6492 -.3885
.6554 -.6520 -.3264
.6629 -.6525 -.2608
.6696 -.6520 -.1927
.6750 -.6512 -.1230
.6789 -.6509 -.0526
.6813 -.6510 .0179
.6826 -.6513 .0876
.6830 -.6513 .1560
.6829 -.6503 .2220
.6823 -.6478 .2848
.6810 -.6436 .3436
.6786 -.6376 .3975
.6740 -.6305 .4460
.6660 -.6229 .4885
.6535 -.6159 .5250
.6348 -.6106 .5557
.6092 -.6078 .5808
.5759 -.6081 .6012
.5346 -.6114 .6174
.4856 -.6176 .6300
.4298 -.6255 .6397
.3684 -.6342 .6468
.3027 -.6422 .6515
.2345 -.6485 .6538
.1652 -.6520 .6535
.0960 -.6525 .6504
.0281 -.6499 .6445
-.0380 -.6449 .6361
-.1020 -.6384 .6257
-.1636 -.6315 .6140
-.2228 -.6251 .6020
-.2794 -.6201 .5910
-.3333 -.6165 .5820
-.3841 -.6140 .5760
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> [00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> c
a) PWM frequency: 30kHz
b) deadtime: 1499ns
c) dutycycle testsignal: 50%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals
z) return to main menu
------> b
new value -> 600
a) PWM frequency: 30kHz
b) deadtime: 599ns
c) dutycycle testsignal: 50%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> e
a) loop sample frequency: 58.02 kHz
b) 1st order phase loop integrator coefficient: 20.5289
c) 2nd order phase loop integrator coefficient: 0.0456
d) amplitude loop integrator coefficient: 1.3127
e) maximum amplitude: 200 %
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> f
a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
d) polynomial coefficients throttle 2 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: NO
receive throttle over CAN: NO
g) TX throttle over CAN: NO
h) test throttle
z) return to main menu
------> c
enter the 3 coefficients [-8..8]
new value -> 1,0,0
new value -> 0
new value -> 0
a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): -8.0000, 0.0000, 0.0000
d) polynomial coefficients throttle 2 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: NO
receive throttle over CAN: NO
g) TX throttle over CAN: NO
h) test throttle
z) return to main menu
------> c
enter the 3 coefficients [-8..8]
new value -> 1
new value -> 0
new value -> 0
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): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: NO
receive throttle over CAN: NO
g) TX throttle over CAN: NO
h) test throttle
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> g
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 500
h] transition time sensored to sensorless: 399 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> d
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 5
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> h
new value -> 7
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 7
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> k
default values restored
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 7
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> [00][00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> [00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> d
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 7
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> h
new value -> 58
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 10
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> [00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> e
a) loop sample frequency: 58.02 kHz
b) 1st order phase loop integrator coefficient: 20.5289
c) 2nd order phase loop integrator coefficient: 0.0456
d) amplitude loop integrator coefficient: 1.3127
e) maximum amplitude: 200 %
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> g
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 500
h] transition time sensored to sensorless: 399 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> a
a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------>
a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------> b
Spin the motor then press any key to start measurement
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------>
a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> a
a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> d
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 10
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> k
default values restored
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 10
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> [00][00]OK I got the voltages at pins 5,7 and 8 at ~2.45 and re calibrated the coils and halls but It still skips in and out from drive 1-2 and 2-1 so I tested and found a bad connection and fixed that and found one of my other current sensor wires broke off at the pin.... I have 950 amp current sensors but the resolution will not be as good for this. I will look and see if I can use the one I have from Burtie tomorrow... It does not seem to want to go to drive 2 and I tried all the settings you suggested lebowski incl testing the the right phase voltages were going to the right pin....
Code:
[00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> a
a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------> b
Spin the motor then press any key to start measurement
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------> c
hall 1, hall 2, hall 3
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 .5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 -.5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
-.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 -.5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 .5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
.5000 .5200 -.5400
a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> b
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> b]
Spin the motor then press any key to start measurement
Waiting for motor to slow down
Sampling...
coil position capture successfull
data arrays now contain sampled back-emf waveforms
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> d
data A, data B, data C
-.7642 -.8931 -.2081
-.7886 -.8867 -.2089
-.8069 -.8770 -.2085
-.8215 -.8642 -.2087
-.8347 -.8492 -.2089
-.8488 -.8336 -.2087
-.8622 -.8177 -.2089
-.8735 -.8009 -.2085
-.8825 -.7803 -.2083
-.8886 -.7553 -.2085
-.8908 -.7236 -.2085
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-.8959 -.6531 -.2087
-.9006 -.6176 -.2083
-.9045 -.5820 -.2074
-.9069 -.5474 -.2072
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-.9038 -.4762 -.2067
-.9030 -.4416 -.2072
-.9030 -.4083 -.2080
-.9047 -.3771 -.2080
-.8298 -.3220 -.1906
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-.8838 -.2667 -.2100
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-.6822 -.8869 -.2083
-.7124 -.8860 -.2081
-.6157 -.7401 -.1739
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> c
data arrays now contain reconstructed back-emf waveforms
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> d
data A, data B, data C
-.4158 -.6224 .6330
-.4649 -.6207 .6266
-.5104 -.6174 .6201
-.5512 -.6102 .6145
-.5863 -.5971 .6107
-.6152 -.5765 .6092
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-.6735 -.3393 .6327
-.6744 -.2712 .6387
-.6743 -.2004 .6433
-.6742 -.1290 .6461
-.6744 -.0584 .6471
-.6751 .0101 .6467
-.6758 .0762 .6453
-.6762 .1396 .6437
-.6757 .2006 .6424
-.6738 .2591 .6415
-.6704 .3156 .6408
-.6656 .3698 .6398
-.6597 .4213 .6370
-.6534 .4695 .6313
-.6477 .5133 .6207
-.6432 .5519 .6040
-.6406 .5844 .5796
-.6404 .6104 .5468
-.6426 .6297 .5053
-.6467 .6429 .4556
-.6524 .6507 .3986
-.6587 .6545 .3356
-.6649 .6556 .2684
-.6701 .6555 .1985
-.6741 .6552 .1275
-.6764 .6553 .0567
-.6772 .6562 -.0129
-.6767 .6576 -.0809
-.6752 .6589 -.1470
-.6732 .6593 -.2109
-.6705 .6581 -.2724
-.6669 .6549 -.3313
-.6618 .6495 -.3872
-.6543 .6422 -.4392
-.6430 .6339 -.4866
-.6264 .6256 -.5286
-.6036 .6184 -.5643
-.5735 .6134 -.5932
-.5354 .6115 -.6153
-.4896 .6128 -.6307
-.4366 .6173 -.6403
-.3775 .6240 -.6449
-.3139 .6321 -.6462
-.2475 .6400 -.6455
-.1799 .6466 -.6439
-.1125 .6508 -.6427
-.0464 .6521 -.6422
.0177 .6506 -.6426
.0797 .6466 -.6437
.1397 .6411 -.6449
.1979 .6353 -.6455
.2545 .6300 -.6449
.3099 .6261 -.6427
.3638 .6236 -.6386
.4156 .6222 -.6331
.4648 .6206 -.6267
.5103 .6173 -.6202
.5510 .6101 -.6147
.5862 .5970 -.6109
.6151 .5763 -.6094
.6376 .5467 -.6105
.6538 .5076 -.6141
.6645 .4592 -.6195
.6705 .4025 -.6261
.6734 .3392 -.6329
.6743 .2710 -.6388
.6742 .2003 -.6435
.6741 .1288 -.6463
.6744 .0583 -.6473
.6750 -.0103 -.6468
.6758 -.0764 -.6455
.6761 -.1398 -.6439
.6756 -.2007 -.6426
.6738 -.2593 -.6416
.6704 -.3157 -.6410
.6654 -.3699 -.6399
.6596 -.4214 -.6372
.6534 -.4696 -.6314
.6476 -.5134 -.6209
.6430 -.5520 -.6041
.6405 -.5845 -.5798
.6402 -.6105 -.5469
.6423 -.6299 -.5055
.6466 -.6430 -.4558
.6522 -.6508 -.3988
.6585 -.6546 -.3358
.6647 -.6557 -.2685
.6699 -.6556 -.1986
.6738 -.6553 -.1276
.6762 -.6554 -.0569
.6770 -.6564 .0128
.6765 -.6577 .0808
.6751 -.6589 .1469
.6730 -.6594 .2108
.6703 -.6582 .2723
.6668 -.6549 .3312
.6617 -.6495 .3871
.6542 -.6423 .4391
.6428 -.6340 .4865
.6263 -.6257 .5285
.6035 -.6185 .5642
.5733 -.6136 .5932
.5353 -.6117 .6152
.4895 -.6130 .6306
.4364 -.6174 .6401
.3774 -.6242 .6448
.3138 -.6322 .6461
.2473 -.6401 .6454
.1798 -.6467 .6438
.1124 -.6510 .6426
.0462 -.6523 .6420
-.0178 -.6507 .6425
-.0798 -.6467 .6436
-.1398 -.6413 .6448
-.1980 -.6354 .6454
-.2546 -.6302 .6448
-.3100 -.6262 .6426
-.3638 -.6238 .6386
a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> [00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> f
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): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: NO
receive throttle over CAN: NO
g) TX throttle over CAN: NO
h) test throttle
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> e
a) loop sample frequency: 58.02 kHz
b) 1st order phase loop integrator coefficient: 20.5289
c) 2nd order phase loop integrator coefficient: 0.0456
d) amplitude loop integrator coefficient: 1.3127
e) maximum amplitude: 200 %
z) return to main menu
------> b
new value -> 307.1999
a) loop sample frequency: 58.02 kHz
b) 1st order phase loop integrator coefficient: 307.1998
c) 2nd order phase loop integrator coefficient: 0.0456
d) amplitude loop integrator coefficient: 1.3127
e) maximum amplitude: 200 %
z) return to main menu
------> c
new value -> .0199
a) loop sample frequency: 58.02 kHz
b) 1st order phase loop integrator coefficient: 307.1998
c) 2nd order phase loop integrator coefficient: 0.0198
d) amplitude loop integrator coefficient: 1.3127
e) maximum amplitude: 200 %
z) return to main menu
------> d
new value -> 12.8999
a) loop sample frequency: 58.02 kHz
b) 1st order phase loop integrator coefficient: 307.1998
c) 2nd order phase loop integrator coefficient: 0.0198
d) amplitude loop integrator coefficient: 12.8998
e) maximum amplitude: 200 %
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> g
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 500
h] transition time sensored to sensorless: 399 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> d
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 10
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> k
default values restored
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 10
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> [00][00][00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> e
a) loop sample frequency: 58.02 kHz
b) 1st order phase loop integrator coefficient: 307.1998
c) 2nd order phase loop integrator coefficient: 0.0198
d) amplitude loop integrator coefficient: 12.8998
e) maximum amplitude: 200 %
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> g
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 500
h] transition time sensored to sensorless: 399 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> g
new value -> 1000
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 1000
h] transition time sensored to sensorless: 399 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> [00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> g
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 500
h] transition time sensored to sensorless: 399 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> 1000
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 500
h] transition time sensored to sensorless: 399 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> [00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------>
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> e
a) loop sample frequency: 58.02 kHz
b) 1st order phase loop integrator coefficient: 307.1998
c) 2nd order phase loop integrator coefficient: 0.0198
d) amplitude loop integrator coefficient: 12.8998
e) maximum amplitude: 200 %
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> d
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 10
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> k
default values restored
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 10
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> h
new value -> 5
a) number of current sensors: 2
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 29.9 A
d) maximum battery current, motor use: 9.9 A
e) maximum battery current, regen: 4.9 A
f) maximum shutdown error current, fixed: 6.2 A
g) maximum shutdown error current, proportional: 6.2 A
h) IIR filter coefficient: 5
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> [00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> e
a) loop sample frequency: 58.02 kHz
b) 1st order phase loop integrator coefficient: 307.1998
c) 2nd order phase loop integrator coefficient: 0.0198
d) amplitude loop integrator coefficient: 12.8998
e) maximum amplitude: 200 %
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> f
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): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: NO
receive throttle over CAN: NO
g) TX throttle over CAN: NO
h) test throttle
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> g
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 500
h] transition time sensored to sensorless: 399 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> g
new value -> 1000
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 1000
h] transition time sensored to sensorless: 399 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> [00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> g
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 1000
h] transition time sensored to sensorless: 399 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> h
new value -> 1000
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 1000
h] transition time sensored to sensorless: 999 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> [00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> g
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 1000
h] transition time sensored to sensorless: 999 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> h
new value -> 5000
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 1000
h] transition time sensored to sensorless: 4999 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> [00][00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> g
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 1000
h] transition time sensored to sensorless: 4999 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> h
new value -> 10
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 1000
h] transition time sensored to sensorless: 9 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------>
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> [00][00]
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> g
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 1000
h] transition time sensored to sensorless: 9 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> g
new value -> 5000
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 5002
h] transition time sensored to sensorless: 9 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> h
new value -> 300
a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 425
d} e-rpm reached before transition: 87 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 10 %
g] erpm sensored to sensorless transition: 5002
h] transition time sensored to sensorless: 299 milli-sec
i) return to motor start below 200 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 74.9 A
l) motor maximum, forward: 255.60 k-erpm
m) motor maximum, reverse: 152.57 k-erpm
n) motor standstill voltage threshold: 0.19 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 30 Hz
q) low side pulsing width: 20 usec
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> a
a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> z
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> a
Data stored in EEPROM for motor use
a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu
------> z
########################################
# (c)opyright 2012, B.M. Putter #
# Adliswil, Switzerland #
# bmp72@hotmail.com #
# #
# version 1.01 #
# experimental, use at your own risk #
########################################
a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use
------> [00][00][00]Similar threads
