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Lebowski's motor controller IC, schematic & setup, new v2.A1

I will post this so you might be able to help me more accurately.

The set up >
Its a leaf motor with a IGBT powerstage all with isolated supplies.
The phase voltage sensing wires are not connected but I did have to tie them to 5v or else it will not do anything.
The battery voltage wire is disconnected and tied to -
I did have some success making it run at 30v but lots of problems getting it to sample the inductance.
I found if I get it to spin it will spin then if I let off the throttle and let it stop it stops abruptly and will not self start again.
When this happens I get 1 fet driver that gets hot and something Latches in the powerstage and it pulls a lot of current so I have to shut it down then let it cool for a couple seconds. Then start over.
That last problem is something I have looked very hard at but I found it with my thermal camera and I can tell when its a problem when the current needle on the labs supply pins it self all the way to the right.
I found when I tried 44v it seemed to be better but not great and I could not get the motor to run at all at 44v (partially charged 12s lipo)
I tried more voltage because I understand it may not work well when its designed with IGBTs and current sensors for 950 amps max. So my though was to try a little more voltage. When I went to 44v I played a bit and got the FOC to measure the inductance the best it has at ~250 uH my cheep meter says its 283 at the lowest spot and 1.4mH (1400 uH) at the highest spot (testing at different motor positions). I mention this because maybe this is more then the chip expects.
Anyways here is the setup menus.
SO now if I try the toneless start up it will light the second LED but when I give it throttle it jumps back to the first LED and it will not even try to turn the motor.
In HF tone start-up it will make noise and jiggle the motor a bit but when I try throttle it doesn't seem to move or it will make a bit more noise but eventualy it will just get stuck and not move at all just humming at the frequency its trying to use to read the position.
BTW on page 6 of your maual you say
When the option is set (in a later menu) to run position sensing at standstill by means of a High Frequency
tone,
Click to expand...
What are you talking about in a later menu? Is that just option 0 from the main menu?
One other thing how does it know which way to turn?
Code: 
########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> a 































a) PWM frequency: 10kHz
b) deadtime: 1999ns
c) dutycycle testsignal: 50%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals

g) autocomplete

h) loop sample frequency: 19.00 kHz

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> b 































a) current sensor transimpedance: 1.37 mV/A
b) maximum motor phase current: 49.8 A
c) maximum battery current, motor use: 49.8 A
d) maximum battery current, regen: 0.0 A

e) autocomplete

f) HF current, base level (HF only): 0.8 A
g) HF current, proportional factor (HF only): 1.0000
h) maximum phase current in drive 2 (HF only): 23.5 A
i) phase current for forcing motor position: 9.8 A
j) maximum shutdown error current, fixed: 12.3 A
k) maximum shutdown error current, proportional: 6.1 A
l) applied braking current (phase) on direction change: 0.0 A
m) offset filtering (phase) current limit: 0.0 A

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> c 































a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): 1.0000, 0.0000, 0.0000
d) polynomial coefficients throttle 2 (x, x^2, x^3): -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: YES
h) test throttle

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> d 































a) erpm limit, forward: 39.99 k-erpm
b) erpm limit, reverse: 29.98 k-erpm
c) accept direction change below: 382 erpm
d) transition erpm drive 2 -> 3: 2106 erpm
e) transition erpm drive 3 -> 2: 2523 erpm

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> e 































a) battery voltage: 44.0 V

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> f 































a) restore calibration, autocomplete
b) perform offset measurement
   sensor a: -287.5 mV
   sensor b: -257.5 mV
   sensor c: -260.0 mV
c) perform gain measurement
   channel a: 119.79 %
   channel b: 109.68 %
   channel c: 79.76 %
d) online gain calibration update rate: 0.302 %

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> g 































a) autocomplete

  phase control loop, drive 3
b) 1st order: 240
c) 2nd order: 12.0000
d) 3rd order: 0.3000
  phase control loop, drive 2
e) 1st order: 480
f) 2nd order: 24.0000
g) 3rd order: 0.0299
  amplitude control loop
h) 1st order: 60
i) 2nd order: 3.0000
j) 3rd order: 0.0000
k) maximum amplitude: 100 %

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> h 































a) autocomplete

b) throttle current filter -3dB freq: 100 Hz
c) error current 50% step response time: 5.002 msec
d) induction position filter 45 degree delay speed: 8.52 k-erpm
e) drive 2 speed filter 50% step response time: 203.0 msec

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> i 































a) autocomplete

b) FOC measurement current: 49.8 A
c) FOC measurement erpm: 42.23 k-erpm
d) perform impedance measurement

 measured inductance: 243.1 uH

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> j 































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 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> k 































a) autocomplete

  phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 3.9 A
i) pulse width: 29 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 14.2 msec
l) speed filter 50% step response time: 3.3 msec
m) try restart for: 236 msec
n) check for spinning motor, drive_0: enabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 15.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 2.3 msec

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> l 































 code: 0, angle: 358 deg, confidence: 31, used: no
 code: 1, angle: 358 deg, confidence: 31, used: yes
 code: 2, angle: 358 deg, confidence: 31, used: no
 code: 3, angle: 358 deg, confidence: 31, used: yes
 code: 4, angle: 358 deg, confidence: 31, used: yes
 code: 5, angle: 358 deg, confidence: 31, used: yes
 code: 6, angle: 358 deg, confidence: 31, used: yes
 code: 7, angle: 358 deg, confidence: 31, used: yes

a) toggle hall usage
b) calibrate hall positions: no

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: HF tone
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> m
 
I think I'll spread my answer over 2 or more posts... first the inductor measurement.
Code: 
a) autocomplete

b) FOC measurement current: 49.8 A
c) FOC measurement erpm: 42.23 k-erpm
d) perform impedance measurement

 measured inductance: 243.1 uH

z) return to main menu

from these numbers you can calculate you need at least 100V !

42k-erpm comes down to around 700 Hz . An inductance of 243 uH at 700 Hz is equivalent to about 1.07 Ohm. The 49.8A is the peak of the sine wave, combined with the
1.07 Ohm this would mean a peak of the voltage wave of 53 V. Now the battery voltage has to be about double that to be able to fit the sine wave in, so 100V or so.

during the measurement the chip is increasing the voltage to the motor until it sees the specified 50A. with the 30 or so V you use it will never manage this. I actually never tried
to see what happens if the supply is too low....

So, things to try is to reduce the amps or reduce the measurement erpm such that the 30V will battery will be enough
 
Code: 
    a) erpm limit, forward: 39.99 k-erpm
    b) erpm limit, reverse: 29.98 k-erpm
    c) accept direction change below: 382 erpm
    d) transition erpm drive 2 -> 3: 2106 erpm
    e) transition erpm drive 3 -> 2: 2523 erpm

    z) return to main menu

what is wrong here is that option d should be a higher number than option e.

with the setting you have, at for instance 2200 erpm option d tells the chip to go to drive 3 while option e tells it to go to drive 2. The chip will toggle back and forth.

Correct is to have e lower than d, typically at like 70% of d (so make e 1500 here).

I typically, for a big motor, use 100, 500 and 350 for c, d and e. Small RC motors need higher numbers
 
Code: 
    0) mode: HF tone
    a) PWM parameters
    b) current settings
    c) throttle setup
    d) erpm limits
    e) battery
    f) current sensor calibration
    g) control loop coefficients
    h) filter bandwidths
    i) FOC motor impedance
    j) CAN setup
    k) recovery only
    l) hall sensored only
    m) miscellaneous
    z) store parameters in ROM for motor use

It is important to realise that the HF tone mode does not have recovery. THIS MEANS IT NEEDS THE PHASE VOLTAGE SENSING !!!!
The option to disable the phase voltage sensing is in menu k, but this is disregarded in the HF tone mode. FOOLING THE CONTROLLER
IN THINKING THE MOTOR IS AT STANDSTILL IS VERY VERY DANGEROUS.

Code: 
    a) current sensor transimpedance: 1.37 mV/A
    b) maximum motor phase current: 49.8 A
    c) maximum battery current, motor use: 49.8 A
    d) maximum battery current, regen: 0.0 A

    e) autocomplete

    f) HF current, base level (HF only): 0.8 A
    g) HF current, proportional factor (HF only): 1.0000
    h) maximum phase current in drive 2 (HF only): 23.5 A
    i) phase current for forcing motor position: 9.8 A
    j) maximum shutdown error current, fixed: 12.3 A
    k) maximum shutdown error current, proportional: 6.1 A
    l) applied braking current (phase) on direction change: 0.0 A
    m) offset filtering (phase) current limit: 0.0 A

    z) return to main menu

I can see from the numbers you changed some of them after the autocomplete. The HF current, base level must be much higher than the 0.8A used here. I don't remember
exactly what I set for the autocomplete, but it must be in the order of 20 to 30% of the max motor phase current. It needs a lot of current in the HF tone to be able to measure what
is going on. Yes, dependent on the motor it will be loud.
Later experimentations have shown that fo best result the HF tone current is 50% of the max phase current, and to have the proportional factor (g) at 0. It will heat the motor though...

The motor heating, noise and absense of recovery (just not possible) means I'm not a big fan of the HF tone mode, one of the reasons I added hall sensor support
 
Thanks Lebowski. to be clear I am up to 12s lipo ~45v now trying o run the lowest voltage I can to learn how to set it all up then I will increase the voltage once it seems smooth.
 
Lebowski said:
Code: 
    0) mode: HF tone
    a) PWM parameters
    b) current settings
    c) throttle setup
    d) erpm limits
    e) battery
    f) current sensor calibration
    g) control loop coefficients
    h) filter bandwidths
    i) FOC motor impedance
    j) CAN setup
    k) recovery only
    l) hall sensored only
    m) miscellaneous
    z) store parameters in ROM for motor use

It is important to realise that the HF tone mode does not have recovery. THIS MEANS IT NEEDS THE PHASE VOLTAGE SENSING !!!!
The option to disable the phase voltage sensing is in menu k, but this is disregarded in the HF tone mode. FOOLING THE CONTROLLER
IN THINKING THE MOTOR IS AT STANDSTILL IS VERY VERY DANGEROUS.
Click to expand...

Ok... So what do I do about this? Can I run HF tone with no phase voltage measurement?
 
Code: 
    a) restore calibration, autocomplete
    b) perform offset measurement
       sensor a: -287.5 mV
       sensor b: -257.5 mV
       sensor c: -260.0 mV
    c) perform gain measurement
       channel a: 119.79 %
       channel b: 109.68 %
       channel c: 79.76 %
    d) online gain calibration update rate: 0.302 %

    z) return to main menu

use option a to reset everything... only need to calibrate when using HF tone (especially for option c)

Code: 
    a) autocomplete

      phase control loop, recovery
    b) 1st order: 0
    c) 2nd order: 120.0000
    d) 3rd order: 3.0000
      amplitude control loop, recovery
    e) 1st order: 240
    f) 2nd order: 12.0000
    g) 3rd order: 0.0000
    h) pulse when current drops below: 3.9 A
    i) pulse width: 29 usec
    j) pulse % for exit: 95
    k) pulse % filter 50% step response time: 14.2 msec
    l) speed filter 50% step response time: 3.3 msec
    m) try restart for: 236 msec
    n) check for spinning motor, drive_0: enabled
    o) check for throttle closed, drive_0: enabled
      exit from startup to recovery at current
    p) current to check: total current
    q) fixed part: 15.9 A
    r) proportional to throttle current, factor: 150 %
    s) current filter 50% step response time: 2.3 msec

    z) return to main menu
this is the recovery menu, it is not active in HF tone mode.
If you're running sensorless I would think option i is too low.... maybe not.
The way it works is in order to recover a spinning motor, the controller needs to know the motor currents. What it does is it (repeatedly) shorts out the motor
for the time specified in option i. With

delta_I = (V/L) * delta_t

you can calculate the amount by which the current in the motor will increase during the short out event.
With a motor like that at high rpm I can imagine the V is about 200V. If the inductance is indeed 243 uH and you short it for 29 usec
the delta_I is 24A. After the short event the motor current will drop slowly, the next shorting event will come when the motor current
drops below option h, 3.9A. As the controller 'recovers' the motor, each shorting event will yield less delta_I (as the controller matches the
motor voltage better and better the V in the equation drops).

The delta_I above is not that high (24A for a 400A motor, at full speed)... Make sure though you keep the pulse time (i) less than 1 / f_sample
(PWM menu, option h)
 
Arlo1 said:
Lebowski said:
Code: 
    0) mode: HF tone
    a) PWM parameters
    b) current settings
    c) throttle setup
    d) erpm limits
    e) battery
    f) current sensor calibration
    g) control loop coefficients
    h) filter bandwidths
    i) FOC motor impedance
    j) CAN setup
    k) recovery only
    l) hall sensored only
    m) miscellaneous
    z) store parameters in ROM for motor use

It is important to realise that the HF tone mode does not have recovery. THIS MEANS IT NEEDS THE PHASE VOLTAGE SENSING !!!!
The option to disable the phase voltage sensing is in menu k, but this is disregarded in the HF tone mode. FOOLING THE CONTROLLER
IN THINKING THE MOTOR IS AT STANDSTILL IS VERY VERY DANGEROUS.
Click to expand...

Ok... So what do I do about this? Can I run HF tone with no phase voltage measurement?
Click to expand...

nope, use one of the other two modes
 
Shit.... The plan was to not have wires for hall sensors into the motor..... It doesn't even have a hall sensors..... I had the whole thing planned for HF tone.
 
Lebowski said:
The option to disable the phase voltage sensing is in menu k, but this is disregarded in the HF tone mode. FOOLING THE CONTROLLER
IN THINKING THE MOTOR IS AT STANDSTILL IS VERY VERY DANGEROUS.
Click to expand...
Ok which option is it I need to use to disable the phase voltage sensing?
Code: 
a) autocomplete

  phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 3.9 A
i) pulse width: 29 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 14.2 msec
l) speed filter 50% step response time: 3.3 msec
m) try restart for: 236 msec
n) check for spinning motor, drive_0: enabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 15.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 2.3 msec

z) return to main menu

------> z
 
OK so I'm trying toneless with recovery but it flashes the 1st led at 4hz while keeping the second led on in between the flashes.
:Edit I got it to spin from start up with sensorless 1 time tonight with 62v hooked up to it. It runs good once in sensorless but it was really hard to get going.
I also got it to spin up once with a drill on the end of the motor and stay in sensorless but man there is a lot of settings to get right.
So I found I had to increase option H in the menu k (recovery) to around 30 amps to make it stay in drive 2 better then I played with other settings and never really got it... But I was at 62v I know with more voltage it will be better... but I am just trying to play it safe...
I will get some Hall encoders coming asap. so I can use a hall start-up and see how it goes.
 
Can you post all the settings ? It should start quite easely in sensorless, i've been able to drive away from standstill under power, sensorless...
You can also post the hex data from the eprom save menu, option b i think. I can load this and look at all the settings
 
Lebowski said:
Can you post all the settings ? It should start quite easely in sensorless, i've been able to drive away from standstill under power, sensorless...
You can also post the hex data from the eprom save menu, option b i think. I can load this and look at all the settings
Click to expand...
Basically I started where you last saw the settings then just manually messed with stuff then I tried all the autocomplete settings and not much luck.

Here is some of where I left off.... It just seems like it doesn't know what to do it will some times spin backwards and sometimes spin during FOC measurement.

Code: 
########################################

a) PWM frequency: 5kHz
b) deadtime: 1999ns
c) dutycycle testsignal: 50%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals

g) autocomplete

h) loop sample frequency: 9.00 kHz

z) return to main menu

------> zz 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> z 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> k 































a) autocomplete

  phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 49.8 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 19.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> q 
new value -> 40 































a) autocomplete

  phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 49.8 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> zz 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> m 































a) autocomplete

b) motor standstill voltage threshold: 0.48 V
c) low side pulsing in drive 0: enabled
d) low side pulsing rate: 20 Hz
e) low side pulsing width: 20 usec
f) wiggle range: 19 deg
g) wiggle rate: 2 Hz
h) minimum # of cycles going from drive 2 to 3: 1000
i) number of cycles going from drive 3 to 2, HF only: 200

z) return to main menu

------> c 































a) autocomplete

b) motor standstill voltage threshold: 0.48 V
c) low side pulsing in drive 0: disabled
d) low side pulsing rate: 20 Hz
e) low side pulsing width: 20 usec
f) wiggle range: 19 deg
g) wiggle rate: 2 Hz
h) minimum # of cycles going from drive 2 to 3: 1000
i) number of cycles going from drive 3 to 2, HF only: 200

z) return to main menu

------> zz 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> z 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> k 































a) autocomplete

  phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 49.8 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> b\ 
new value -> 1 































a) autocomplete

  phase control loop, recovery
b) 1st order: 1
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 49.8 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> g 
new value -> 1 































a) autocomplete

  phase control loop, recovery
b) 1st order: 1
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 1.0000
h) pulse when current drops below: 49.8 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> zz 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> m 































a) autocomplete

b) motor standstill voltage threshold: 0.48 V
c) low side pulsing in drive 0: disabled
d) low side pulsing rate: 20 Hz
e) low side pulsing width: 20 usec
f) wiggle range: 19 deg
g) wiggle rate: 2 Hz
h) minimum # of cycles going from drive 2 to 3: 1000
i) number of cycles going from drive 3 to 2, HF only: 200

z) return to main menu

------> zz 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> k 































a) autocomplete

  phase control loop, recovery
b) 1st order: 1
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 1.0000
h) pulse when current drops below: 49.8 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> i 
new value -> 50 































a) autocomplete

  phase control loop, recovery
b) 1st order: 1
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 1.0000
h) pulse when current drops below: 49.8 A
i) pulse width: 49 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> zz 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> z 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> z 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------>  

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> zz 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> k 































a) autocomplete

  phase control loop, recovery
b) 1st order: 1
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 1.0000
h) pulse when current drops below: 49.8 A
i) pulse width: 49 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> m 
new value -> 2000 































a) autocomplete

  phase control loop, recovery
b) 1st order: 1
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 1.0000
h) pulse when current drops below: 49.8 A
i) pulse width: 49 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 1999 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> zz 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> z 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> f 































a) restore calibration, autocomplete
b) perform offset measurement
   sensor a: -275.0 mV
   sensor b: -287.5 mV
   sensor c: -247.5 mV
c) perform gain measurement
   channel a: 99.99 %
   channel b: 99.99 %
   channel c: 99.99 %
d) online gain calibration update rate: 0.302 %

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> b\ 































a) current sensor transimpedance: 1.37 mV/A
b) maximum motor phase current: 99.9 A
c) maximum battery current, motor use: 49.8 A
d) maximum battery current, regen: 0.0 A

e) autocomplete

f) HF current, base level (HF only): 3.9 A
g) HF current, proportional factor (HF only): 1.0000
h) maximum phase current in drive 2 (HF only): 39.9 A
i) phase current for forcing motor position: 29.9 A
j) maximum shutdown error current, fixed: 74.9 A
k) maximum shutdown error current, proportional: 37.4 A
l) applied braking current (phase) on direction change: 0.0 A
m) offset filtering (phase) current limit: 0.0 A

z) return to main menu

------> c 
new value -> 1 































a) current sensor transimpedance: 1.37 mV/A
b) maximum motor phase current: 99.9 A
c) maximum battery current, motor use: 0.8 A
d) maximum battery current, regen: 0.0 A

e) autocomplete

f) HF current, base level (HF only): 3.9 A
g) HF current, proportional factor (HF only): 1.0000
h) maximum phase current in drive 2 (HF only): 39.9 A
i) phase current for forcing motor position: 29.9 A
j) maximum shutdown error current, fixed: 74.9 A
k) maximum shutdown error current, proportional: 37.4 A
l) applied braking current (phase) on direction change: 0.0 A
m) offset filtering (phase) current limit: 0.0 A

z) return to main menu

------> 80 































a) current sensor transimpedance: 1.37 mV/A
b) maximum motor phase current: 99.9 A
c) maximum battery current, motor use: 0.8 A
d) maximum battery current, regen: 0.0 A

e) autocomplete

f) HF current, base level (HF only): 3.9 A
g) HF current, proportional factor (HF only): 1.0000
h) maximum phase current in drive 2 (HF only): 39.9 A
i) phase current for forcing motor position: 29.9 A
j) maximum shutdown error current, fixed: 74.9 A
k) maximum shutdown error current, proportional: 37.4 A
l) applied braking current (phase) on direction change: 0.0 A
m) offset filtering (phase) current limit: 0.0 A

z) return to main menu

------> c 
new value -> 80 































a) current sensor transimpedance: 1.37 mV/A
b) maximum motor phase current: 99.9 A
c) maximum battery current, motor use: 79.9 A
d) maximum battery current, regen: 0.0 A

e) autocomplete

f) HF current, base level (HF only): 3.9 A
g) HF current, proportional factor (HF only): 1.0000
h) maximum phase current in drive 2 (HF only): 39.9 A
i) phase current for forcing motor position: 29.9 A
j) maximum shutdown error current, fixed: 74.9 A
k) maximum shutdown error current, proportional: 37.4 A
l) applied braking current (phase) on direction change: 0.0 A
m) offset filtering (phase) current limit: 0.0 A

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> zz 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> b\ 































a) current sensor transimpedance: 1.37 mV/A
b) maximum motor phase current: 99.9 A
c) maximum battery current, motor use: 79.9 A
d) maximum battery current, regen: 0.0 A

e) autocomplete

f) HF current, base level (HF only): 3.9 A
g) HF current, proportional factor (HF only): 1.0000
h) maximum phase current in drive 2 (HF only): 39.9 A
i) phase current for forcing motor position: 29.9 A
j) maximum shutdown error current, fixed: 74.9 A
k) maximum shutdown error current, proportional: 37.4 A
l) applied braking current (phase) on direction change: 0.0 A
m) offset filtering (phase) current limit: 0.0 A

z) return to main menu

------> e 































a) current sensor transimpedance: 1.37 mV/A
b) maximum motor phase current: 99.9 A
c) maximum battery current, motor use: 79.9 A
d) maximum battery current, regen: 0.0 A

e) autocomplete

f) HF current, base level (HF only): 5.0 A
g) HF current, proportional factor (HF only): 1.0000
h) maximum phase current in drive 2 (HF only): 47.3 A
i) phase current for forcing motor position: 19.9 A
j) maximum shutdown error current, fixed: 24.9 A
k) maximum shutdown error current, proportional: 12.3 A
l) applied braking current (phase) on direction change: 0.0 A
m) offset filtering (phase) current limit: 0.0 A

z) return to main menu

------> zz 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> z 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> k 































a) autocomplete

  phase control loop, recovery
b) 1st order: 1
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 1.0000
h) pulse when current drops below: 49.8 A
i) pulse width: 49 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 1999 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> a 































a) autocomplete

  phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 4.8 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: enabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 19.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> n 































a) autocomplete

  phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 4.8 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 19.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> q 
new value -> 40 































a) autocomplete

  phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 4.8 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> zz 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> k 































a) autocomplete

  phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 4.8 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> h 
new value -> 0 































a) autocomplete

  phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 0.0 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> zz 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> z 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------>  































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> k 































a) autocomplete

  phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 0.0 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> h 
new value -> 60 































a) autocomplete

  phase control loop, recovery
b) 1st order: 0
c) 2nd order: 120.0000
d) 3rd order: 3.0000
  amplitude control loop, recovery
e) 1st order: 240
f) 2nd order: 12.0000
g) 3rd order: 0.0000
h) pulse when current drops below: 59.9 A
i) pulse width: 87 usec
j) pulse % for exit: 95
k) pulse % filter 50% step response time: 30.0 msec
l) speed filter 50% step response time: 7.0 msec
m) try restart for: 499 msec
n) check for spinning motor, drive_0: disabled
o) check for throttle closed, drive_0: enabled
  exit from startup to recovery at current
p) current to check: total current
q) fixed part: 39.9 A
r) proportional to throttle current, factor: 150 %
s) current filter 50% step response time: 5.0 msec

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> zz 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> b\ 































a) current sensor transimpedance: 1.37 mV/A
b) maximum motor phase current: 99.9 A
c) maximum battery current, motor use: 79.9 A
d) maximum battery current, regen: 0.0 A

e) autocomplete

f) HF current, base level (HF only): 5.0 A
g) HF current, proportional factor (HF only): 1.0000
h) maximum phase current in drive 2 (HF only): 47.3 A
i) phase current for forcing motor position: 19.9 A
j) maximum shutdown error current, fixed: 24.9 A
k) maximum shutdown error current, proportional: 12.3 A
l) applied braking current (phase) on direction change: 0.0 A
m) offset filtering (phase) current limit: 0.0 A

z) return to main menu

------> j 
new value -> 60 































a) current sensor transimpedance: 1.37 mV/A
b) maximum motor phase current: 99.9 A
c) maximum battery current, motor use: 79.9 A
d) maximum battery current, regen: 0.0 A

e) autocomplete

f) HF current, base level (HF only): 5.0 A
g) HF current, proportional factor (HF only): 1.0000
h) maximum phase current in drive 2 (HF only): 47.3 A
i) phase current for forcing motor position: 19.9 A
j) maximum shutdown error current, fixed: 59.9 A
k) maximum shutdown error current, proportional: 12.3 A
l) applied braking current (phase) on direction change: 0.0 A
m) offset filtering (phase) current limit: 0.0 A

z) return to main menu

------> k 
new value -> 40 































a) current sensor transimpedance: 1.37 mV/A
b) maximum motor phase current: 99.9 A
c) maximum battery current, motor use: 79.9 A
d) maximum battery current, regen: 0.0 A

e) autocomplete

f) HF current, base level (HF only): 5.0 A
g) HF current, proportional factor (HF only): 1.0000
h) maximum phase current in drive 2 (HF only): 47.3 A
i) phase current for forcing motor position: 19.9 A
j) maximum shutdown error current, fixed: 59.9 A
k) maximum shutdown error current, proportional: 39.9 A
l) applied braking current (phase) on direction change: 0.0 A
m) offset filtering (phase) current limit: 0.0 A

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> zz 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> zz 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> z 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00]






























########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> d 































a) erpm limit, forward: 18.93 k-erpm
b) erpm limit, reverse: 14.19 k-erpm
c) accept direction change below: 98 erpm
d) transition erpm drive 2 -> 3: 799 erpm
e) transition erpm drive 3 -> 2: 296 erpm

z) return to main menu

------> e 
new value -> 100 































a) erpm limit, forward: 18.93 k-erpm
b) erpm limit, reverse: 14.19 k-erpm
c) accept direction change below: 98 erpm
d) transition erpm drive 2 -> 3: 799 erpm
e) transition erpm drive 3 -> 2: 98 erpm

z) return to main menu

------> d 
new value -> 300 































a) erpm limit, forward: 18.93 k-erpm
b) erpm limit, reverse: 14.19 k-erpm
c) accept direction change below: 98 erpm
d) transition erpm drive 2 -> 3: 296 erpm
e) transition erpm drive 3 -> 2: 98 erpm

z) return to main menu

------> z 































########################################
#   (c)opyright 2014, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 2.30                        #
#  experimental, use at your own risk  #
########################################


0) mode: Toneless, with recovery
a) PWM parameters
b) current settings
c) throttle setup
d) erpm limits
e) battery
f) current sensor calibration
g) control loop coefficients
h) filter bandwidths
i) FOC motor impedance
j) CAN setup
k) recovery only
l) hall sensored only
m) miscellaneous
z) store parameters in ROM for motor use

------> zz 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> a 

a) save data to ROM for motor use
b) print data in HEX format
c) enter data in HEX format
d) online parameter save: disabled

z) return to main menu

------> [00][00][00][00][00][00][00][00]
 
It doesn't let me unless I'm connected to the controller. I'm out of town for the day.
 
Lebowski would you be willing to add field weakening that comes in at a set rpm so its not making the system inefficient at low rpm??
As well How much rpm do you gain going from 100% phase amplitude to say 110% or 120% or 130%???
Ok here is the hex file. And a quick video I have it working a bit. What do you suggest??

Code: 
------> b 

 save the following HEX lines in a text file, including the '*' termination character

0x08FA	0x06BB	0x0E74	0x000C	0x0003	0x000C	0x7FBC	0x00CB
0x0000	0x0022	0x8000	0x0196	0x0152	0x0141	0x0392	0x038D
0x039D	0xAAAA	0xAAAA	0xAAAA	0x0BB8	0x0BB8	0x008F	0x0D05
0x0003	0xF62E	0x03C0	0x1000	0x0000	0x0000	0xFFFF	0xFFFF
0xFFFF	0x0054	0x03AB	0xFFFF	0xFFFF	0x0370	0x0152	0x021E
0x0000	0x01C0	0x0258	0x0064	0xFFFF	0xFFFF	0xFFFF	0xFFFF
0x0000	0x4CCD	0x000C	0x0000	0x00F0	0xFFFF	0xB333	0xFFF4
0x0000	0xFF10	0x0000	0x07AE	0x0018	0x0000	0x01E0	0xFFFF
0xF852	0xFFE8	0x0000	0xFE20	0x0003	0x0000	0x0078	0x0000
0x0000	0xFFFD	0x0000	0xFF88	0x0000	0x0000	0x003C	0x0003
0x0000	0x0000	0x0000	0xFFC4	0xFFFD	0x0000	0x0000	0x0000
0x00F0	0x000C	0x0000	0x0000	0x0000	0xFF10	0xFFF4	0x0000
0x0000	0x0000	0xF563	0x0161	0x0F32	0x097B	0x0152	0x0048
0x0411	0x0CA4	0x05B0	0x0024	0x0438	0x0042	0x0015	0x5550
0x0000	0x01F4	0x00C8	0x1194	0x03B6	0x6000	0x010F	0x05B2
0xFFFE	0xFFFF	0xFFFE	0xFFFF	0xFFFF	0xFFFF	0xFFFF	0xFFFF
0xFFFF	0xC519	0x764B	0x5482	0x41B3	0x35C3	0x2D7A	0x276B
0x22C9	0x1F1E	0x1C28	0x19B5	0x17A6	0x15E6	0x1463	0x1312
0x11EB	0x10E4	0x0FFB	0x0F28	0x0E6B	0x0DC0	0x0D23	0x0C94
0x0C10	0x0B97	0x0B27	0x0ABF	0x0A5F	0x0A05	0x09B1	0x0962
*


[youtube]nl5LdE31LWY[/youtube]
 
I had a look around in the settings and think the main thing was the offset calibration, the measured values looked too big.
Try these settings (in the eeprom menu select option c, then copy paste into the terminal window). I also changed the wiggle
range and rate as these looked too big and too small respectively.

Code: 
0x08FA	0x06BB	0x0E74	0x000C	0x0003	0x000C	0x7FBC	0x00CB
0x0000	0x0022	0x8000	0x0196	0x0152	0x0141	0x0400	0x0400
0x0400	0xAAAA	0xAAAA	0xAAAA	0x0BB8	0x0B9A	0x008F	0x0D05
0x0003	0xF62E	0x03C0	0x1000	0x0000	0x0000	0xFFFF	0xFFFF
0xFFFF	0x0054	0x03AB	0xFFFF	0xFFFF	0x0370	0x0065	0x021E
0x0000	0x01C0	0x0258	0x0064	0xFFFF	0xFFFF	0xFFFF	0xFFFF
0x0000	0x4CCD	0x000C	0x0000	0x00F0	0xFFFF	0xB333	0xFFF4
0x0000	0xFF10	0x0000	0x07AE	0x0018	0x0000	0x01E0	0xFFFF
0xF852	0xFFE8	0x0000	0xFE20	0x0003	0x0000	0x0078	0x0000
0x0000	0xFFFD	0x0000	0xFF88	0x0000	0x0000	0x003C	0x0003
0x0000	0x0000	0x0000	0xFFC4	0xFFFD	0x0000	0x0000	0x0000
0x00F0	0x000C	0x0000	0x0000	0x0000	0xFF10	0xFFF4	0x0000
0x0000	0x0000	0xF563	0x0161	0x0F32	0x097B	0x0152	0x0048
0x01E6	0x0CA4	0x05B0	0x0024	0x0438	0x0042	0x0048	0x0E38
0x0000	0x01F4	0x00C8	0x1194	0x03B6	0x6000	0x010F	0x05B2
0xFFFE	0xFFFF	0xFFFE	0xFFFF	0xFFFF	0xFFFF	0xFFFF	0xFFFF
0xFFFF	0xC519	0x764B	0x5482	0x41B3	0x35C3	0x2D7A	0x276B
0x22C9	0x1F1E	0x1C28	0x19B5	0x17A6	0x15E6	0x1463	0x1312
0x11EB	0x10E4	0x0FFB	0x0F28	0x0E6B	0x0DC0	0x0D23	0x0C94
0x0C10	0x0B97	0x0B27	0x0ABF	0x0A5F	0x0A05	0x09B1	0x0962
*

the current sensors are monster, 1.37mV/A makes me think they are 1500A sensors !!!! Are they 5V sensors or did you have to devide
down the output voltage ? Can you measure the sensors output voltage at the point where they go into the controller IC, with no current
flowing, just to get an idea of the offset ?
 
Current sensors are 950 amp run with a supply just below 10v then output through a divider to give 0-5v the newtral point is ~2.6v
 
w.r.t. the neutral points, what's important is that they are the same. That they are all like 100mV away from 2.5 is not a big deal, what
really counts is the difference between the 3. You had 50mV difference between the 3, if this is due to a wrong measurement it would
explain the difficult sensorless start. Therefore I reset the calibation in the hex code above

if it doesn;t jump out of drive 1, in the recovery menu try
Code: 
h) pulse when current drops below: 24.9 A
j) pulse % for exit: 70
 
Lebowski said:
I had a look around in the settings and think the main thing was the offset calibration, the measured values looked too big.
Try these settings (in the eeprom menu select option c, then copy paste into the terminal window). I also changed the wiggle
range and rate as these looked too big and too small respectively.

Code: 
0x08FA	0x06BB	0x0E74	0x000C	0x0003	0x000C	0x7FBC	0x00CB
0x0000	0x0022	0x8000	0x0196	0x0152	0x0141	0x0400	0x0400
0x0400	0xAAAA	0xAAAA	0xAAAA	0x0BB8	0x0B9A	0x008F	0x0D05
0x0003	0xF62E	0x03C0	0x1000	0x0000	0x0000	0xFFFF	0xFFFF
0xFFFF	0x0054	0x03AB	0xFFFF	0xFFFF	0x0370	0x0065	0x021E
0x0000	0x01C0	0x0258	0x0064	0xFFFF	0xFFFF	0xFFFF	0xFFFF
0x0000	0x4CCD	0x000C	0x0000	0x00F0	0xFFFF	0xB333	0xFFF4
0x0000	0xFF10	0x0000	0x07AE	0x0018	0x0000	0x01E0	0xFFFF
0xF852	0xFFE8	0x0000	0xFE20	0x0003	0x0000	0x0078	0x0000
0x0000	0xFFFD	0x0000	0xFF88	0x0000	0x0000	0x003C	0x0003
0x0000	0x0000	0x0000	0xFFC4	0xFFFD	0x0000	0x0000	0x0000
0x00F0	0x000C	0x0000	0x0000	0x0000	0xFF10	0xFFF4	0x0000
0x0000	0x0000	0xF563	0x0161	0x0F32	0x097B	0x0152	0x0048
0x01E6	0x0CA4	0x05B0	0x0024	0x0438	0x0042	0x0048	0x0E38
0x0000	0x01F4	0x00C8	0x1194	0x03B6	0x6000	0x010F	0x05B2
0xFFFE	0xFFFF	0xFFFE	0xFFFF	0xFFFF	0xFFFF	0xFFFF	0xFFFF
0xFFFF	0xC519	0x764B	0x5482	0x41B3	0x35C3	0x2D7A	0x276B
0x22C9	0x1F1E	0x1C28	0x19B5	0x17A6	0x15E6	0x1463	0x1312
0x11EB	0x10E4	0x0FFB	0x0F28	0x0E6B	0x0DC0	0x0D23	0x0C94
0x0C10	0x0B97	0x0B27	0x0ABF	0x0A5F	0x0A05	0x09B1	0x0962
*

the current sensors are monster, 1.37mV/A makes me think they are 1500A sensors !!!! Are they 5V sensors or did you have to devide
down the output voltage ? Can you measure the sensors output voltage at the point where they go into the controller IC, with no current
flowing, just to get an idea of the offset ?
Click to expand...
For the life of me I can't get this to load maybe the program I use (termite 2.5) doesn't allow it?
 
I managed to get 110v powering this and sensorless start but not very smooth during start up. Its great once running... I recalibrated the current sensors again and the sensor C likes to be a lot off from A and B
Also It likes lots of wiggle.
Code: 
a) restore calibration, autocomplete
b) perform offset measurement
   sensor a: -277.5 mV
   sensor b: -310.0 mV
   sensor c: -237.5 mV
c) perform gain measurement
   channel a: 99.99 %
   channel b: 99.99 %
   channel c: 99.99 %
d) online gain calibration update rate: 0.302 %

Code: 
0x08FA	0x06BB	0x0E74	0x000A	0x0003	0x000C	0x7FBC	0x00CB
0x0000	0x0022	0x8000	0x01DA	0x0196	0x0141	0x0391	0x0384
0x03A1	0xAAAA	0xAAAA	0xAAAA	0x0BB8	0x0BB8	0x008F	0x0D05
0x0003	0xF62E	0x06E0	0x1000	0x0000	0x0000	0xFFFF	0xFFFF
0xFFFF	0x0054	0x03AB	0xFFFF	0xFFFF	0x0370	0x0152	0x021E
0x0000	0x01C0	0x0258	0x0064	0xFFFF	0xFFFF	0xFFFF	0xFFFF
0x0000	0x4CCD	0x000C	0x0000	0x00F0	0xFFFF	0xB333	0xFFF4
0x0000	0xFF10	0x0000	0x07AE	0x0018	0x0000	0x01E0	0xFFFF
0xF852	0xFFE8	0x0000	0xFE20	0x0003	0x0000	0x0078	0x0000
0x0000	0xFFFD	0x0000	0xFF88	0x0000	0x0000	0x003C	0x0003
0x0000	0x0000	0x0000	0xFFC4	0xFFFD	0x0000	0x0000	0x0000
0x00F0	0x000C	0x0000	0x0000	0x0000	0xFF10	0xFFF4	0x0000
0x0000	0x0000	0xF563	0x0161	0x0F32	0x097B	0x0152	0x0048
0x0411	0x0CA4	0x05B0	0x0024	0x0438	0x0042	0x0010	0x8AA2
0x0000	0x01F4	0x00C8	0x1194	0x03B6	0x6000	0x010F	0x05B2
0xFFFE	0xFFFF	0xFFFE	0xFFFF	0xFFFF	0xFFFF	0xFFFF	0xFFFF
0xFFFF	0xC519	0x764B	0x5482	0x41B3	0x35C3	0x2D7A	0x276B
0x22C9	0x1F1E	0x1C28	0x19B5	0x17A6	0x15E6	0x1463	0x1312
0x11EB	0x10E4	0x0FFB	0x0F28	0x0E6B	0x0DC0	0x0D23	0x0C94
0x0C10	0x0B97	0x0B27	0x0ABF	0x0A5F	0x0A05	0x09B1	0x0962
*

[youtube]lvAmal44fI0[/youtube]
 
I looked at termite again (I always use an Ubuntu terminal program) and it is indeed not able to process the HEX...

There is another terminal program which you can download for free:

http://sourceforge.net/projects/realterm/?source=typ_redirect

the settings with which I made it work:
realterm.jpg

in order to send the HEX with all the settings: first copy paste it from ES into a text file. Then select option c from the eeprom menu to put the chip into receive mode.
select your text file in the 'dump file to port' and select 'send file'.


Click in the main text part of Realterm to have keyboard control again. Now all your settings should be
updated according to the info of the HEX text file. Don't forget to save to EEPROM !
 
I still think the sensorless start should be much smoother... Now with the realterm being able to send hex, can you try the hex I posted above?

did you try to measure the current sensor voltages at the point where they enter the controller IC ? What does it show there ?

when doing the offset measurement the controller puts a sine wave through the motor, this is necessary to get rid of any magnetic
hysteresis lurking in the current sensors. The amount of current used for this is the one in the current settings meny, option f
Code: 
f) HF current, base level (HF only): 5.0 A
the 5A you have here is too low, try 25 or 50 A...

The hex will give you different numbers for wiggle rate and amplitude... the name 'wiggle' is basically what it does inside the controller IC,
it wiggles the Id and Iq axis. But it is not intended to actually make the motor wiggle. In your case I really have the feeling that offset
calibration is wrong. This means that when the controller thinks it puts 0 current through the motor, due to the wrong calibration it will
put a non-0 current through the motor making it 'stuck' or 'spring back' to a certain position. This is what it looks like to me at your
sensorless startup...
 
Lebowski said:
I still think the sensorless start should be much smoother... Now with the realterm being able to send hex, can you try the hex I posted above?

did you try to measure the current sensor voltages at the point where they enter the controller IC ? What does it show there ?

when doing the offset measurement the controller puts a sine wave through the motor, this is necessary to get rid of any magnetic
hysteresis lurking in the current sensors. The amount of current used for this is the one in the current settings meny, option f
Code: 
f) HF current, base level (HF only): 5.0 A
You have (HF only) in brackets so I didn't think this effected the sensorless operation.
the 5A you have here is too low, try 25 or 50 A...

The hex will give you different numbers for wiggle rate and amplitude... the name 'wiggle' is basically what it does inside the controller IC,
it wiggles the Id and Iq axis. But it is not intended to actually make the motor wiggle. In your case I really have the feeling that offset
calibration is wrong. This means that when the controller thinks it puts 0 current through the motor, due to the wrong calibration it will
put a non-0 current through the motor making it 'stuck' or 'spring back' to a certain position. This is what it looks like to me at your
sensorless startup...
Click to expand...
I will see if I can get to the shop a bit later today and play with this. Thanks for explaining this and giving me some ideas.
 
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