This seems to be more like appropriate behavior of the system.
On the early orange/yellow cyclone throttle light;
this could be indicative of either slightly low battery output, a slightly high impedance connection between battery and motor, or, a little of each. Check your connections and wire gauge for ability to carry 15 amps continous with no IR drop. A measely 2/10 ohm round trip will drop 3 volts at 15 amps, and thats just 360watts into the controller/motor.
My major issue with the 500w cyclone is trying to deliver 1000w (40 amps) peak from 24v. Connections gets worse as vibration, heat, corrosion, and time take their toll. Going to the 36v external controller helps quite a bit. 48v more but peak efficiency speed is much higher making other gearing changes much needed.
I forget exactly where the cyclone goes to yellow/orange, but I vaguely recall around 22v? My 360w cyclone 20ah headway system never gets a yellow light even on unassisted hill climbing. It used to with NIMH, especially as the pack aged.
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edit: just got my first yellow light today after 20 miles of HARD full throttle riding lots of the time, with pedal assist; then I tuned into the facewind from hell and nailed the throttle in way too high a gear. No gag, just yellow light till I downshifted.
Got home a little later and measured the rested pack at 26.17v before going on the charger. Lets see how many AH's this 20ah pack drinks when the charging is over.
It took 9.8 AH for recharge.
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