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en:controller:setup [2021/10/07 20:15] dmitry [Modes setup] |
en:controller:setup [2022/01/17 08:39] dmitry [Battery] |
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~~Title: Controller setup~~ | ~~Title: Controller setup~~ | ||
- | ====== Controller (v.0.7) ====== | + | ====== Controller (v.0.8) ====== |
The controller allows you to control BLDC (Brushless Direct Current Motor) and PMSM (Permanent Magnet Synchronous Motor) electric motors. At the moment we are producing three types of controllers for different motors power. | The controller allows you to control BLDC (Brushless Direct Current Motor) and PMSM (Permanent Magnet Synchronous Motor) electric motors. At the moment we are producing three types of controllers for different motors power. | ||
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===== Auto-setup ===== | ===== Auto-setup ===== | ||
- | The auto-setup function in the **Controller** > **Auto-setup** menu section allows you to automatically set up the electric motor, throttle, and brake levers. | + | The auto-setup function in the **Controller** > **Auto-setup** menu section allows you to automatically set up the electric motor, throttle, and brake levers. If the throttle and brake levers are connected to the On-board computer, then they must be configured in [[en: |
- | {{: | + | {{: |
The auto-setup menu starts the subprogram and shows only the process. All settings are saved under **Controller** > **Motor setup**. After restarting the Controller, all switches will be in the **Off** position. | The auto-setup menu starts the subprogram and shows only the process. All settings are saved under **Controller** > **Motor setup**. After restarting the Controller, all switches will be in the **Off** position. | ||
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If you have a throttle lever and an analog brake connected, then you need to enable Full Setup, and follow the instructions on the On-Board computer screen. The corresponding menu items will indicate when to press and release the throttle or brake lever. | If you have a throttle lever and an analog brake connected, then you need to enable Full Setup, and follow the instructions on the On-Board computer screen. The corresponding menu items will indicate when to press and release the throttle or brake lever. | ||
- | If only one throttle lever is connected, you must independently turn on the items step-by-step: | + | If only one throttle lever is connected, you must independently turn on the items step-by-step: |
If the motor is heavy and autodetect does not happen, you can gently push it with your hand or increase the tuning current in the **Controller** > **Auto-setup** > **Setup current** section, for example, twice. The setup current can be selected in the range from **2A** to **50A**, in increments of **1A**. | If the motor is heavy and autodetect does not happen, you can gently push it with your hand or increase the tuning current in the **Controller** > **Auto-setup** > **Setup current** section, for example, twice. The setup current can be selected in the range from **2A** to **50A**, in increments of **1A**. | ||
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===== Firmware update ===== | ===== Firmware update ===== | ||
- | In the menu section **Controller** > **Settings and Update**, you can update the Controller' | + | In the menu section **Controller** > **Settings and Update**, you can update the Controller' |
{{: | {{: | ||
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==== Modes setup ==== | ==== Modes setup ==== | ||
- | {{: | + | {{: |
The ** # Current mode ** line displays the currently selected control mode. List of possible options: \\ | The ** # Current mode ** line displays the currently selected control mode. List of possible options: \\ | ||
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**Power** — maximum power (discharge) of the battery, in kilowatts (**kW**). Select of values from **0.00kW** to **30.0kW**, in increments of **0.1kW**. Set to 0.0kW to disable the power limiting limit.\\ | **Power** — maximum power (discharge) of the battery, in kilowatts (**kW**). Select of values from **0.00kW** to **30.0kW**, in increments of **0.1kW**. Set to 0.0kW to disable the power limiting limit.\\ | ||
- | **Speed** — maximum speed in percentage (%). Select of values from **4%** to **150%**, in increments of **2%**. The value of this parameter determines the percentage of speed depending on the reference speed (see section **[[en: | + | **Speed** — maximum speed in percentage (%). Select of values from **4%** to **150%**, in increments of **2%**. The value of this parameter determines the percentage of speed depending on the reference speed (see section **[[en: |
==== Electric brake setup ==== | ==== Electric brake setup ==== | ||
- | **Braking phase** — the value of the phase current of braking by the motor, in Amperes (**A**). Select of values from **0A** to **500A**, in increments of **2A**. For braking to zero, it is recommended to enable **Active braking** in the section **Controller** > **Control**. When using the switch brake, lower brake current change speed makes recuperation more smooth. \\ | + | **Braking phase** — the value of the phase current of braking by the motor, in Amperes (**A**). Select of values from **0A** to **500A**, in increments of **2A**. For braking to zero, it is recommended to enable **Active braking** in the section **Controller** > **Control**. When using limit switches on mechanical brakes, lower brake current change speed makes recuperation more smooth. \\ |
==== Braking phase at speed control ==== | ==== Braking phase at speed control ==== | ||
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In the menu item **Controller** > **Control** > **Speed lim. at 0% throttle** enable the speed limit at 0% throttle (optional), enable if you need braking with completely released throttle. \\ | In the menu item **Controller** > **Control** > **Speed lim. at 0% throttle** enable the speed limit at 0% throttle (optional), enable if you need braking with completely released throttle. \\ | ||
+ | ==== Regenerative braking setting ==== | ||
+ | |||
+ | **Braking ph. at 0% throttle** — phase braking current with the throttle handle released, in Amperes (A). Select of values from **0A** to **500A**, in increments of **2A**. This function allows regenerative braking to be initiated when the throttle is released. \\ | ||
+ | |||
+ | This function will be active if additional modes are disabled in the **Controller** > **Advanced modes** menu section or if, with activated additional modes, in one of the menu sections **Mode S1**, **Mode S2** or **Mode S3** in menu item **Braking ph. at 0% throttle** was setup is **0A**. | ||
==== Reverse setup ==== | ==== Reverse setup ==== | ||
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In the menu **Controller** > **Advanced modes** > **Neutral by default** you can activate the neutral mode (N) when the controller starts up, which will be active until one of the speed modes is activated. In a neutral mode, only the electric brake operates, throttle and PAS are disabled. This mode is recommended for use with speed buttons (not a switch). The function does not work with a 3-position switch (functions of the S1of3 and S3of3 ports in the **Controller** > **I/O configuration** menu). \\ | In the menu **Controller** > **Advanced modes** > **Neutral by default** you can activate the neutral mode (N) when the controller starts up, which will be active until one of the speed modes is activated. In a neutral mode, only the electric brake operates, throttle and PAS are disabled. This mode is recommended for use with speed buttons (not a switch). The function does not work with a 3-position switch (functions of the S1of3 and S3of3 ports in the **Controller** > **I/O configuration** menu). \\ | ||
+ | ~~CL~~ \\ | ||
Each mode has its own section in the **Controller** > **Advanced modes** > **Mode S1, Mode S2, Mode S3 ** with the following settings: \\ | Each mode has its own section in the **Controller** > **Advanced modes** > **Mode S1, Mode S2, Mode S3 ** with the following settings: \\ | ||
- | {{: | + | {{: |
**Throttle mode** — selection of the operating mode of the throttle lever, read more in the section **[[en: | **Throttle mode** — selection of the operating mode of the throttle lever, read more in the section **[[en: | ||
**Acceleration lim.** and **Deceleration lim.** — are specified in ERPM/s, select of values from **0 ERPM/s** to **500000 ERPM/s**, in increments of **200 ERPM/s **. These settings allow you to limit the speed of acceleration or deceleration of the motor, it is convenient to use on slippery surfaces. For setting go to the **Controller** > **Status flags** section, in this menu there are two parameters that register the maximum acceleration and deceleration — **Max acceleration** and **Max deceleration**. **Reset** the values of these parameters in the same section of the menu, then you need to ride your e-bike in order to register the current dynamics of acceleration and deceleration. You can use these values as a reference and decrease them if you need to limit change speed. If the type of surface changes, for example, it becomes too slippery, then these values can be reduced until it becomes comfortable to catch the moment when the wheel loses traction. \\ | **Acceleration lim.** and **Deceleration lim.** — are specified in ERPM/s, select of values from **0 ERPM/s** to **500000 ERPM/s**, in increments of **200 ERPM/s **. These settings allow you to limit the speed of acceleration or deceleration of the motor, it is convenient to use on slippery surfaces. For setting go to the **Controller** > **Status flags** section, in this menu there are two parameters that register the maximum acceleration and deceleration — **Max acceleration** and **Max deceleration**. **Reset** the values of these parameters in the same section of the menu, then you need to ride your e-bike in order to register the current dynamics of acceleration and deceleration. You can use these values as a reference and decrease them if you need to limit change speed. If the type of surface changes, for example, it becomes too slippery, then these values can be reduced until it becomes comfortable to catch the moment when the wheel loses traction. \\ | ||
+ | |||
+ | **Braking phase** — the value of the phase current of braking by the motor, in Amperes (A). Select of values from **0A** to **500A**, in increments of **2A**. For braking to zero, it is recommended to enable Active braking in the section **Controller** > **Control**. When using limit switches on mechanical brakes, lower brake current change speed makes recuperation more smooth. | ||
+ | |||
+ | **Braking ph. at 0% throttle** — phase braking current with the throttle handle released, in Amperes (A). Select of values from **0A** to **500A**, in increments of **2A**. This function allows regenerative braking to be initiated when the throttle is released. If **0A** is specified or additional modes are disabled in the **Controller** > **Advanced modes** section of the menu, then for the recuperation level will be used value from menu item in the **Controller** > **Control modes** > **Braking ph. at 0% throttle** menu item. | ||
**Revers** — reverse gear activation when the control mode is selected. Select of values **On** or **Off**. \\ | **Revers** — reverse gear activation when the control mode is selected. Select of values **On** or **Off**. \\ | ||
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==== Throttle control mode setup ==== | ==== Throttle control mode setup ==== | ||
- | The menu item **Controller** > **Control** > **Throttle | + | The menu item **Controller** > **Control** > **Throttle |
- | {{: | + | {{: |
Three throttle modes options are available: | Three throttle modes options are available: | ||
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The menu items in the **Controller** > **Control** section allow you to set the voltage ranges of the throttle and brake grips. \\ | The menu items in the **Controller** > **Control** section allow you to set the voltage ranges of the throttle and brake grips. \\ | ||
- | {{: | + | {{: |
Currently, voltage settings for all throttles and brakes are common. \\ | Currently, voltage settings for all throttles and brakes are common. \\ | ||
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**Brake min** and **Brake max** — range of the analog brake lever, in millivolts (mV). Select of values from **0 mV** to **15 000 mV**, in increments of **10 mV**. \\ | **Brake min** and **Brake max** — range of the analog brake lever, in millivolts (mV). Select of values from **0 mV** to **15 000 mV**, in increments of **10 mV**. \\ | ||
+ | **Brake button power** — braking force when pressing the brake button relative to the phase braking level, in percent (%). This setting allows you to adjust the level of braking force with the brake levers with integrated brake buttons. \\ | ||
**Invert brake** — inverts the voltage value from the built-in brake lever. Select **On** to enable. It is useful to enable when the voltage brake lever with reverse voltage is connected to the On-board computer and you want to use the value **Auto** in the menu item **Controller** > **Control** > **Control source**. The digital brake grip (i.e. button) connects to the On-board computer, see section **[[en: | **Invert brake** — inverts the voltage value from the built-in brake lever. Select **On** to enable. It is useful to enable when the voltage brake lever with reverse voltage is connected to the On-board computer and you want to use the value **Auto** in the menu item **Controller** > **Control** > **Control source**. The digital brake grip (i.e. button) connects to the On-board computer, see section **[[en: | ||
**Active braking** — enables brake to use the battery for stopping. Select of values **On** and **Off**. \\ | **Active braking** — enables brake to use the battery for stopping. Select of values **On** and **Off**. \\ | ||
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In the menu section **Controller** > **Motor setup** > **Motor t°-sensor** you can select a temperature range in which a smooth power limit will occur (**Delta °t** parameter) and specify the maximum temperature (**°t max**). | In the menu section **Controller** > **Motor setup** > **Motor t°-sensor** you can select a temperature range in which a smooth power limit will occur (**Delta °t** parameter) and specify the maximum temperature (**°t max**). | ||
- | {{: | + | {{: |
**°t max** — maximum electric motor temperature, | **°t max** — maximum electric motor temperature, | ||
**Delta °t** — the temperature value that is deducted from the maximum temperature (**°t max**), the resulting temperature value will be the beginning of the power limit, in degrees Celsius (°C). Select of values from **1°C** to **100°C**, in increments of **1 °C**. \\ | **Delta °t** — the temperature value that is deducted from the maximum temperature (**°t max**), the resulting temperature value will be the beginning of the power limit, in degrees Celsius (°C). Select of values from **1°C** to **100°C**, in increments of **1 °C**. \\ | ||
- | |||
- | It is recommended to install a temperature sensor so close as possible on the stator windings, while not in contact with the stator iron. If you don't know what kind of sensor is in the motor, you can check all types of sensors and select the one that displays data the most closely to room temperature. The current measured temperature is displayed at **## Value °t ##**. \\ | ||
In the menu item **Sensor type** you can select the following types of temperature sensors that support the controller — **KTY81(82)**, | In the menu item **Sensor type** you can select the following types of temperature sensors that support the controller — **KTY81(82)**, | ||
+ | |||
+ | It is recommended to install a temperature sensor so close as possible on the stator windings, while not in contact with the stator iron. If you don't know what kind of sensor is in the motor, you can check all types of sensors and select the one that displays data the most closely to room temperature. The current measured temperature is displayed at **# Value °t #**. \\ | ||
+ | |||
+ | The **# °t R (+-10%)#** menu item displays the resistance of the motor temperature sensor, with an accuracy of +/-10%. | ||
==== Clutch ==== | ==== Clutch ==== | ||
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<WRAP center round tip 60%>\\ Optimal settings for MAC motor: **Accelerate**, | <WRAP center round tip 60%>\\ Optimal settings for MAC motor: **Accelerate**, | ||
- | ==== Manual setup the Hall sensors angles | + | ==== Hall sensors setup ==== |
+ | |||
+ | Under the menu section **Controller** > **Motor setup** > **Position sensors**, you can find the menu items for configuring the Hall sensors of the electric motor. | ||
+ | |||
+ | === Manual setup the Hall sensors angles === | ||
In general, it is not recommended to change these settings manually!\\ | In general, it is not recommended to change these settings manually!\\ | ||
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**Hall adjust Ki** — the meaning of the coefficient is to find the midpoint of the position of the Hall sensors when adjusting them. Values from **0.02** to **5.00**, in increments of **0.02**. If the value of the coefficient is too small, then the tuning process will end before the midpoint is determined. If the value of the coefficient is too large, then the setting will not be completed and will stop by timeout, because the midpoint will not be found due to the angles changing too often. | **Hall adjust Ki** — the meaning of the coefficient is to find the midpoint of the position of the Hall sensors when adjusting them. Values from **0.02** to **5.00**, in increments of **0.02**. If the value of the coefficient is too small, then the tuning process will end before the midpoint is determined. If the value of the coefficient is too large, then the setting will not be completed and will stop by timeout, because the midpoint will not be found due to the angles changing too often. | ||
- | ==== Hall table ==== | + | === Hall table === |
The **Controller** > **Motor Setup** > **Hall table** menu section shows the Hall indices and Hall angles for the two directions of rotation of the electric motor. These indices are used for the internal operation of the Controller. \\ | The **Controller** > **Motor Setup** > **Hall table** menu section shows the Hall indices and Hall angles for the two directions of rotation of the electric motor. These indices are used for the internal operation of the Controller. \\ | ||
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~~CL~~ \\ | ~~CL~~ \\ | ||
- | ==== Motor parameters ==== | + | === Advanced Hall sensor settings |
- | Items in the **Controller** > **Motor | + | Further |
- | {{: | + | {{: |
- | **Pole pair** — the number of pole pairs of the stator winding of the electric motor determines the speed at which the motor shaft will rotate. This parameter is used to calculate RPM and speed. For a more accurate autodetection of the Hall sensors angles, you must specify the correct value for the number | + | **Sensor type** — currently, by default, only one type of **Hall** sensor is available. Additional types of supported sensors will be added in future updates. |
- | **Spin direction** — this setting allows you to change the direction of rotation of the electric motor. Select of values **Forward** and **Invert**. Or you can swap two motor phases to change the direction of rotation.\\ | + | **Sensor |
- | + | **Sensorless** — motor control using BEMF integration, | |
- | **Integration thr.** — analogue of Hall sensors angles for sensorless motor control mode, in volts (**V**). \\ | + | **Combined** — start the motor on Hall sensors, then switch to sensorless mode, the threshold is determined by the parameter radians per second (**rad/s**) in the **From hall to s-less** menu item. Select of values from **0.00 rad/s** to **2.00 rad/s** in increments of **0.05 rad/s**. To convert values keep in mind that 1 rad/s to RPM = 9.5493 RPM. \\ |
- | + | **Sensors** — electric motor control | |
- | **Control mode now** — the current motor control mode, the parameter switches the real-time control mode, but does not save it. See below for a description of each mode. \\ | + | **Freq** — frequency |
- | + | ||
- | **Control | + | |
- | + | ||
- | * **Sensorless** — motor control using BEMF integration, | + | |
- | * **Square** — outdated control method used only for motor detection. \\ | + | |
- | * **Combined** — start the motor on Hall sensors, then switch to sensorless mode, the threshold is determined by the parameter radians per second (**rad/s**) in the **From hall to s-less** menu item. Select of values from **0.00 rad/s** to **2.00 rad/s** in increments of **0.05 rad/s**. To convert values keep in mind that 1 rad/s to RPM = 9.5493 RPM. \\ | + | |
- | * **FOC** — field-oriented | + | |
- | * **Hz** — 3-phase square with a fixed frequency. \\ | + | |
- | * **Sine HZ** — 3-phase sine with a fixed frequency. \\ | + | |
**Interpolate halls** — smooth change of the Hall sensors angle based on speed. Used for FOC mode. Select of values **On** and **Off**. \\ | **Interpolate halls** — smooth change of the Hall sensors angle based on speed. Used for FOC mode. Select of values **On** and **Off**. \\ | ||
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**Interpolation start** — the motor is always started from a discrete angle, if digital halls are used. After the specified speed, the angle starts to change smoothly. Select of values from **0 rad/s** to **100 rad/s**, in increments of **1 rad/s**. \\ | **Interpolation start** — the motor is always started from a discrete angle, if digital halls are used. After the specified speed, the angle starts to change smoothly. Select of values from **0 rad/s** to **100 rad/s**, in increments of **1 rad/s**. \\ | ||
- | **Frequency control** — a separate mode that can be used to power equipment through a transformer or to dry the varnish on the motor windings. Select of values from **10 HZ** to **200 HZ**, in increments of **1 HZ**. \\ | + | **Frequency control** — a separate mode that can be used to power equipment through a transformer or to dry the varnish on the motor windings. Select of values from **10 HZ** to **200 HZ**, in increments of **1 HZ**. \\ |
- | **Boost square current** — in the sensorless or square mode, applies 100% PWM at the beginning of each winding switch. Starting from specified speed and minimum requested current. Select of values | + | **Hall filter** — enable or disable the filter |
- | **Boost current** — setting refers to the control mode **Square**, the minimum current from which the rapid current pumping | + | **State filter** — select |
- | **Boost speed** — setting refers to the control mode **Square**, | + | **Direction filter** — select |
- | **Max motor U** — limits voltage supplied to the motor, in volts (**V**). In most cases, this parameter is not needed. Select of values from **0V** to **100V**, in increments of **1V**. \\ | + | ==== Motor parameters ==== |
- | **kV** — motor parameter, electric revolutions per volt (**eRPM/V**). | + | Items in the **Controller** > **Motor setup** menu section allow you to configure the parameters of the electric motor. |
- | ===== Battery ===== | + | {{: |
- | In the **Controller** > **Battery** menu section you can set up the parameters | + | **Pole pair** — the number of pole pairs of the stator winding of the electric motor determines the speed at which the motor shaft will rotate. This parameter is used to calculate RPM and speed. For a more accurate autodetection of the Hall sensors angles, you must specify the correct value for the number |
- | {{: | + | **Spin direction** — this setting allows you to change the direction of rotation of the electric motor. Select of values **Forward** and **Invert**. Or you can swap two motor phases to change the direction of rotation.\\ |
- | **Full charge** — delta voltage relative to the maximum, at which when the controller is turned on, will reset the watt-hour consumption, in volts (**dV**). This setting resets the **From charge statistics** when the Controller is turned on. Select values from **0.00 dV** to **10.00 dV**, in increments of **0.3 dV**. | + | **Integration thr.** — the analog of Hall sensors angles for sensorless motor control mode, in volts (**V**). \\ |
- | **Supply max** and **Supply min** — battery voltage range, in volts (**V**). Select values from **20.00V** to **95.00V**, in increments of **00.1V**. Also, these settings are used for the **Converter** | + | **Control mode** — this parameter is loaded at start-up |
+ | **Off** — control mode is disabled.\\ | ||
+ | **Square** — outdated control method used only for motor detection. \\ | ||
+ | **FOC** — field-oriented control of the motor. \\ | ||
+ | **DC-DC** — charging mode when you use the controller in motor charging | ||
- | For lithium-ion (Li-ion) batteries, | + | The control mode selected in this menu is the priority setting for the controller. If the Hall sensor mode is selected in the **Controller** > **Motor setup** > **Position sensor** menu, which does not correspond to the set operating mode of the electric motor, then this Hall sensor mode will be automatically replaced with a more suitable one. |
- | For lithium-iron-phosphate (LiFePO4)-minimum | + | |
- | <WRAP center round important 60%> | + | **Max motor U** — limits voltage supplied |
- | We guarantee stable operation of the Controller at voltages up to **90V** inclusive. Using a battery over 90V may damage the Controller and void the warranty. | + | |
- | </ | + | |
+ | **kV** — motor parameter, electric revolutions per volt (**eRPM/ | ||
- | **Charge max** — maximum battery charging current, during regeneration or in **Converter** mode, in amperes (**А**). Select values from **1.0A** | + | Next are the menu items for configuring the MTPA, this function allows you to introduce a negative id current to increase the torque on the IPM motors. |
- | **Discharge max** — maximum continuous discharge current | + | **Phase resistance** — the result |
- | **Power max** — maximum continuous discharge power, in watts (**W**). Set 0W to deactivate power limit. Select values from **0W** to **30000 W**, in increments of **100W**. \\ | + | **Inductance d** — the result of measuring the inductance of the electric motor along the d axis during auto-setup |
- | **# DC voltage** — current supply voltage | + | **Inductance q** — the result |
- | ===== Converter ===== | + | **Flux linkage** — is the total magnetic flux permeating the electrical circuit, in Weber (Wb). \\ |
- | In the menu section | + | **# Square wave settings:** \\ |
+ | **Square offset** — additional shift for square wave mode, in degrees (°). Select of values from -30° to 30°, in increments of 1°. This item is similar to the same item in the menu **Controller** > **Motor setup** > **Position sensor** > **Manual angle setup**. \\ | ||
+ | **Boost square current** — in the sensorless or square | ||
+ | **Boost current** — setting refers to the control mode **Square**, | ||
+ | **Boost speed** — setting refers to the control mode **Square**, the minimum speed after which the rapid pumping of current in the windings is turned on, in radians per second (**rad/s**). Select of values from **0.00rad/s** to **2.00rad/ms** in increments of **0.05rad/s**. \\ | ||
- | {{: | ||
- | **Enable** — turn on the converter mode and start charging. Select of values **On** and **Off**. \\ | + | ===== Firmware update ===== |
- | **Auto-enable** — allows | + | In the menu section |
- | **Detection threshold** — minimum voltage on phases when charger mode activates, also disables motor control, in volts per phase (**Vph**). Select of values from **10Vph** to **80Vph**, in increments of **1Vph**. \\ | + | {{: |
- | **Battery max I** — maximum | + | **Import config.** — loads the settings from the file ** NCconf.cfg ** - ** NCconf9.cfg ** up to a maximum |
+ | \\ | ||
+ | **Export config.** - saves the settings to the ** NCconf.cfg ** - ** NCconf9.cfg ** file up to a maximum of 9 different configurations, | ||
+ | \\ | ||
+ | **Reboot** — restarts the device. If the settings have not been saved, they will be reset.\\ | ||
+ | \\ | ||
+ | **Reset Wh usage** — resets the accumulated number of Watt-Hours | ||
+ | \\ | ||
+ | **Reset stats** — resets mileage in kilometers.\\ | ||
+ | \\ | ||
+ | **Load defaults** — after a reset, the default settings are loaded but not saved. If you restart the Controller without saving after a reset, the previous settings will be loaded.\\ | ||
+ | \\ | ||
+ | **Erase data storage** — This function may be needed for the correct firmware update, rollback to default settings, in a situation where user actions lead to incorrect operation of the Controller. If the controller has stopped saving the settings, do a reset, wait 3 seconds, and try to save again.\\ | ||
+ | \\ | ||
+ | **Update firmware** — starting the firmware update process. You can download the current firmware version and read the rules of update in the **[[: | ||
+ | ===== Control modes ===== | ||
- | **Battery min I** — minimum charge current when current | + | In the menu section |
- | **Undercharge** — voltage relative | + | If there is no speed switch, then mode 1 is the default. If the switch is connected |
- | **Current drop delta** — decreases charging current down to **Battery min I** as the battery reaches maximum voltage on specified voltage range, in volts (**dV**). Select of values from **0.0dV** to **20.0 dV** in increments of **0.5 dV**. | + | ==== Modes setup ==== |
- | **Supply max I** — maximum power supply current, in amperes (**А**). Select of values from **2.0 A** to **150.0 A**, in increments of **0.5 A**. | + | {{: |
- | **Supply drop U** — allowable voltage drop on wires or power supply, in volts (**V**). Select of values from **0.50 V** to **10.00 V**, in increments of **0.25 V**. \\ | + | The ** # Current mode ** line displays the currently selected control mode. List of possible options: |
+ | **N** — neutral.\\ | ||
+ | **S1** — speed 1.\\ | ||
+ | **S2** — speed 2.\\ | ||
+ | **S3** — speed 3.\\ | ||
+ | **RV** — reverse. | ||
- | **Max motor t°** — setting | + | Four parameters are used to configure each mode:\\ |
+ | **Phase** — the maximum value of the phase current, in Amperes | ||
- | Below in the menu section, through the **#** sign, the real-time values | + | **Battery** — the maximum value of the battery current, in Amperes (**A**). Select of values from **2A** to **400A**, in increments of **2A**. When setting up, consider the capabilities of the connected battery and the maximum battery current of your controller type. |
- | **# Battery I** \\ | + | |
- | **# Battery U** \\ | + | |
- | **# Supply I** \\ | + | |
- | **# Supply U** \\ | + | |
- | After plugging in the power supply, the On-board Computer will display | + | **Power** — maximum |
- | {{{: | + | **Speed** — maximum speed in percentage (%). Select of values from **4%** to **150%**, in increments of **2%**. The value of this parameter determines the percentage of speed depending on the reference speed (see section |
- | **-22.1A** — information line parameter, depending on the On-Board Computer settings. \\ | + | |
- | **0:0:58** — time elapsed since charging started, hours, minutes, seconds. \\ | + | |
- | **I24.9** — charging current, in Amperes (**A**). \\ | + | |
- | **U53.7** — charging voltage, in Volts (**V**). \\ | + | |
- | **The indication in the middle** is the temperature of the motor and the controller, respectively, | + | ==== Electric brake setup ==== |
- | **Indication to the left:** \\ | + | **Braking phase** — the value of the phase current of braking by the motor, |
- | **59.0V** — information line parameter, depending on the On-Board Computer settings. \\ | + | ==== Braking phase at speed control ==== |
- | **15Wh** — the battery capacity | + | |
- | **100%** — the battery level, in percent (**%**). \\ | + | |
- | **I24.9** — the battery current, in Amperes (**A**). \\ | + | |
- | **U53.7** — the battery voltage, in Volts (**V**). \\ | + | |
+ | **Braking ph. at speed** — phase braking current during speed control, in Amperes (A). Select of values from **0A** to **500A**, in increments of **2A**. This function allows you to slow down when you reset the throttle stick. Works only with Direct Drive motors, without a clutch. | ||
- | ~~CL~~ \\ | + | Also to use this mode should be selected: **Speed** or **Speed and Torque** mode in the **Controller** > **Control** > **Throttle Mode** menu item. In the menu item **Controller** > **Control** > **Speed lim. at 0% throttle** enable the speed limit at 0% throttle (optional), enable if you need braking with completely released throttle. |
+ | ==== Regenerative braking setting ==== | ||
- | ===== I/O port configuration ===== | + | **Braking ph. at 0% throttle** — phase braking current with the throttle handle released, in Amperes (A). Select of values from **0A** to **500A**, in increments of **2A**. This function allows regenerative braking to be initiated when the throttle is released. |
- | In the **Controller** > **I/O configuration** menu section, | + | This function will be active if additional modes are disabled in the **Controller** > **Advanced modes** menu section |
+ | ==== Reverse | ||
- | Sixteen CAN ports are additionally available | + | **Speed reverse** — reverse speed, in percentage (%). Select of values |
- | {{: | + | **Phase reverse** — the value of the reverse phase current, in Amperes (**A**). Select of values from **10A** to **500A**, in increments of **2A**. |
+ | ==== Field weakening setup ==== | ||
- | In the section | + | **Field weakening** — the magnitude of the field weakening current, in Amperes (**A**). Select of values from **0A** to **500A**, in increments of **2A**. This setting allows you to increase the maximum motor speed and depends on the supply voltage, |
- | ~~CL~~ \\ | + | |
- | In the item ** Controller **> **I/O configuration** > **Speeds mode** you can select | + | <WRAP center round info 60%>\\ |
+ | The current of weakening creates a field that acts against | ||
- | {{:en: | + | To set up the weakening, you need: |
- | Available functions | + | * for one of the control modes in the section |
- | **OFF** — disable port. \\ | + | * set the weakening current value in the section |
- | **RV** — reverse. \\ | + | |
- | **CRe** — enable cruise. \\ | + | |
- | **CR+** — increment cruise speed (when cruise is active). \\ | + | |
- | **CR-** — decrement cruise | + | |
- | **CRr** — restore last saved cruise speed with button, activated only above min cruise speed. \\ | + | |
- | **BK** — brake button. \\ | + | |
- | **DM** — disable motor (disable throttle, brake and PAS). \\ | + | |
- | **DTH** — disable throttle. \\ | + | |
- | **DPAS** — disable PAS. \\ | + | |
- | **SWSNS** — input for Gearsensor to reduce motor torque (WIP). In development. \\ | + | |
- | **N** — activates the neutral mode forcibly, resets speed mode counter if used. If neutral | + | |
- | **nBK** — inverted brake button input, activates | + | |
- | **S1** — speed 1. \\ | + | |
- | **S2** — speed 2. \\ | + | |
- | **S3** — speed 3. \\ | + | |
- | **S1of3** — speed 1 for 3-position switch. \\ | + | |
- | **S3of3** — speed 3 for 3-position switch. \\ | + | |
- | **Scyc** — cycle speed mode, sequential switching with one button. \\ | + | |
- | **S++** — increment speed, switching the speed from low to high with one button. \\ | + | |
- | **S--** — decrement speedи, switching the speed from high to low with one button. \\ | + | |
- | **SPSNS** — input for external speed sensor. \\ | + | |
- | **Spec.** — special port function (like PWM or PAS). \\ | + | |
- | Further | + | Field weakening is activated when the maximum speed is reached, the Controller adds weakening current, limiting the phase current and weakening current specified |
- | ~~CL~~ \\ | + | |
- | ==== PWM output setup ==== | + | |
- | To activate the **PWM P1** or **PWM P2** output, the **Controller** > **Port Setup** menu should be set to **Spec.** mode and **PAS** disabled. \\ | + | Also, the Controller |
- | **PWM freq** — selection of frequency of additional PWM output on ports **P1/P2**. Select of values PWM frequency — **100Hz**, **500Hz**, **1kHz**, **5kHz**, **10kHz**, **24kHz (FAN)**. For a conventional light bulb, large values are not needed. Select the frequency **100Hz**, this will be enough to avoid flickering. The high frequency marked ** FAN ** is used to control the fan, this is their standard frequency. \\ | + | ==== Current change speed ==== |
- | **PWM P1** and **PWM Р2** — selection of operating modes: \\ | + | **# Current change speed**. |
- | * **Disabled** — mode not selected. \\ | + | |
- | * **Stop-light** — activated when the brake is pressed. \\ | + | |
- | * **Headlight** — activated when the controller is enabled. \\ | + | |
- | * **t°C motor** — activated beyond the two deltas of the motor temperature, | + | |
- | * **t°C controller** — activated from 40°С, maximum value at 80°С temperature of the Controller. \\ | + | |
- | **PWM Pn Min** / **Max** — indicates the output range of the PWM (duty), select of values from **0%** to **100%**, in increments **1%**. \\ | + | |
- | **PWM Pn t° Min** / **t° Max** — selection of motor or controller temperature, select of values from **0°С** to **100°С**, in increments **1°С**. | + | * braking, select of values from **50A/s** to **50000A/s**, in increments of **100A/ |
+ | * shutdown, | ||
- | ===== Extra parameters | + | Three parameters |
- | In the menu section **Controller** > **Extra parameters** you can set up various additional settings of the Controller. | + | ===== Advanced control modes ===== |
- | ==== The power button | + | In the menu section **Controller** |
- | The controller | + | {{:en:controller:k5_en.png? |
- | {{: | + | To activate the control modes, select **Controller** |
- | Selecting modes for **Disable button**: \\ | + | In the menu **Controller** > |
- | **None** — the controller turns on when it is power-up up or when the power button is closed, does not turn off. \\ | + | |
- | **Switch** — the controller turns on when the power button is closed | + | |
- | **Button** — the controller | + | |
- | **CAN** — the controller turns on when it is powers-up or the button contacts shorts, disables only when another device on CAN bus will send a request to disable. This function | + | |
- | **Auto shutdown** — activation of the controller shutdown function after a while if the motor does not spin. Select of values **On** and **Offл**. The shutdown time is set in item **Sleep time**. \\ | + | ~~CL~~ |
- | **Sleep time** — selection of the controller shutdown time when the **Auto shutdown** function is activated, in seconds, (**s**). Select of values from **30s** to **1500s**, in increments of **5s**. \\ | + | Each mode has its own section in the **Controller** > |
- | **Lock at turn-on** — the function locks controller inputs when enabled until the password is entered on the On-Board Computer, if there is no On-Board Computer, enabling this setting will permanently lock the controller. | + | {{: |
- | ==== Speedometer setup ==== | + | **Acceleration lim.** |
- | The next block of settings in the menu section | + | **Braking phase** |
- | {{: | + | **Braking ph. at 0% throttle** |
- | **Speed calculation** — enabling speed calculation in the Controller. Useful for multi-motor configurations, | + | **Revers** — reverse gear activation when the control mode is selected. Select of values **On** |
- | **Circumference** — wheel circumference, | + | **Cruise** — activation of the cruise function. Select of values **On** or **Off**. Convenient |
- | **Motor sprocket** — this setting specifies the number of sprocket teeth on the motor (notional), which allows you to set the gear ratio from motor shaft to the wheel. Also, this setting can be used as a reduction ratio for gear motors. \\ | + | **Disable motor** — completely disables |
- | **Wheel sprocket** — the number | + | **Disable throttle** — disable throttle control. Select |
- | If you have a wheel motor, then in the section | + | **Active braking** — allow the brake to use the battery for stopping. Select of values |
- | ==== Master-controller ==== | + | **Reverse on brake** |
- | {{: | + | **Speed lim. at 0% throttle** |
- | In the menu section | + | |
- | ~~CL~~ \\ | + | |
- | ==== Other settings ==== | + | **Disable PAS** — disables the Pedal Assist. Select of values **On** |
- | {{: | + | **PAS Scale** — extra PAS multiplier for tuning, decreases PAS signal for smoother control on high power modes. Select of values from **1%** to **100%**, in increments of **1%**. |
- | **Limit t° CPU** — limiting the temperature of the processor, in degrees Celsius (**°C**). When the specified threshold is reached, the phase current will be limited. Select of values from **60°C** to **105°C**, in increments of **5°C**. \\ | + | |
- | ** Device ID** — setting the device number in the CAN network. This number is displayed in the menu section **Settings** > **Devices** in front of each device that is connected to the network using the [[en: | + | ===== Control ===== |
- | ~~CL~~ \\ | + | |
- | ===== PID regulators ===== | + | In the **Controller** |
- | In the **Controller** > **PID regulators** menu section, various signals of proportional-integral-derivative (PID) regulators are configured - devices in the control loop with feedback used in automatic control systems to generate a control signal in order to obtain the required accuracy | + | ==== PAS and Torque sensor setup ==== |
- | {{: | + | In the menu section |
- | Two or three coefficients are used for the settings of each regulator: \\ | + | |
- | **Ki** — integral coefficient. \\ | + | |
- | **Кp** — proportional coefficient. \\ | + | |
- | **Kd** — differentiating coefficient. \\ | + | |
- | **Square Ki, Kp** — phase current regulator for a square wave. \\ | + | ЧTo be able to connect the PAS system, it is necessary to order the PWM IO/PAS cable as an option. The PAS system connects to the Controller via the PWM IO/PAS wire to the **P1/P2** ports of the **USB/PWM** |
- | **FOC Ki, Kp** — phase current regulator for FOC mode. \\ | + | |
- | **FW Ki, Kp** — field weakening coefficients. \\ | + | |
- | **DCv Ki, Kp** — voltage regulator on the DC bus. \\ | + | |
- | **DCi Ki, Kp** — current regulator on the DC bus. \\ | + | |
- | **DCw Ki, Kp** — power calculator. \\ | + | |
- | **Speed Ki, Kp, Kd** — speed regulator for throttle control modes **Speed** and **Speed+torque**. \\ | + | |
- | **PLL Ki, Kp** — speed regulator for motor angle interpolation. \\ | + | |
- | **Acceleration Kp, Ki** — deceleration and acceleration regulator. | + | |
- | ~~CL~~ \\ | + | |
- | ===== Status flags ===== | + | |
- | The **Controller** > **Status Flags** menu section displays errors that may occur during | + | You can look at the connecting methods |
- | {{:en: | + | The PAS, unlike the Torque sensor, controls the throttle by frequency and not by the force of rotation. The PAS setup menu consists of the following items: |
- | **Reset?** — reset all statuses. Values **On** and **Off**. \\ | + | {{:en:controller:k7_en.png? |
- | **Max acceleration** — maximum acceleration, | + | |
- | **Min deceleration** — maximum deceleration, | + | |
- | **Overload current** — the last recorded current on the phases, in Amperes. \\ | + | |
- | **Overload** — exceeding the permissible current values. Values **On** and **Off**. \\ | + | |
- | **Over-Field weakening** — weakening error. Values **On** and **Off**. \\ | + | |
- | **Supply overvoltage** — too high supply voltage, the error will appear above 95V, but in general depends on the controller | + | |
- | **Supply undervoltage** — too low supply voltage, less than the minimum battery supply threshold. Values | + | |
- | **12V protection** — breaking down or error on the 12V power line. Values | + | |
- | **Brake error** — brake lever connection error. Values **On** and **Off**. \\ | + | |
- | **Throttle error** — throttle lever connection error. Values **On** and **Off**. \\ | + | |
- | **Hall error** — Hall sensor | + | |
- | **Code error** — error executing firmware code. Values **On** and **Off**. Let us know if this error occurs. \\ | + | |
- | **PAS protection** — PAS error. Values **On** and **Off**. \\ | + | |
- | **Controller overheat** — overheat protection of the controller. Values **On** and **Off**. \\ | + | |
- | **Motor overheat** — overheating protection of the electric motor. Values **On** and **Off**. \\ | + | |
- | **Protection fail** — hardware error, malfunction of all protection systems during controller self-test. If this error occurs, the operation of the Controller will be impossible. Values **On** and **Off**. \\ | + | |
- | **Voltage on phases** — overvoltage on phases. Values **On** and **Off**. \\ | + | |
- | **CAN: error** — CAN-bus errors. Values **On** and **Off**. Let us know if this error occurs. \\ | + | |
- | **LEC** — types of errors on the CAN bus. If everything is alright you will see the value **Ok**. In case of errors, | + | |
- | **Receive w/error** — CAN-bus errors on receiving. \\ | + | |
- | **Sent w/error** — CAN-bus errors on transmitting. \\ | + | |
- | **CAN state** — overloading buffers. If everything | + | |
- | **CPU Load** — current load of the central processor, in percentage (**%**). | + | |
- | ===== Debug information ===== | + | **PAS connection** |
- | The menu section | + | **# PAS freq.** — the value of the signal coming from the PAS in real-time. \\ **PAS timeout** — the time after which the motor turns off after stopping pedaling, in seconds (s). Select of values from **0.02s** |
- | {{: | + | Further in the menu are the settings related to the pressure sensor (Torque sensor). |
- | **Temp FET** — temperature of the field-effect transistors | + | **Pressure scale** — in Newton-meters/ |
- | **Temp Motor** — temperature of the electric motor, in degrees Celsius (**°C**). \\ | + | |
- | **DC current** — DC current, in amperes (**А**). \\ | + | |
- | **DC voltage** — DC voltage, in volts (**V**). \\ | + | |
- | **AC current** — AC current, in amperes | + | |
- | **AC voltage** — AC voltage, in volts (**V**). \\ | + | |
- | **Motor U0** — DC voltage on phases, in volts (**V**). \\ | + | |
- | **System 12V** — voltage on the CAN bus 12V, in volts (**V**). \\ | + | |
- | **System 5V** — voltage on the CAN bus 5V, in volts (**V**). \\ | + | |
- | **RPM** — motor speed, in RPM (**RPM**). \\ | + | |
- | **ERPM** — electric revolutions | + | |
- | **Hall input** — this parameter allows you to check the functionality of the Hall sensors. There are three digits | + | |
- | **Hall index** — virtual position | + | |
- | **Throttle %** — the percentage of how much the throttle is pressed. \\ | + | |
- | **Brake %** — the percentage of how much the brake is pressed. \\ | + | |
- | **Speed request** — set point for the speed regulator, in eRPM. \\ | + | |
- | **Torque request** — phase current request, either positive throttle or a negative brake. \\ | + | |
- | **Torque limit** — current limit for this type of controller, taking into account overheating. \\ | + | |
- | **Temp CPU** — CPU temperature, | + | |
- | Next in the menu are the sections | + | **# Torque** — shows the current torque at the sensor, in Newton-meters (Nm). |
- | + | ||
- | ==== Debug FOC ==== | + | |
- | In the menu section | + | **# Human watt** |
- | {{: | + | **Torque min** — the torque at which the throttle signal starts to increase, Newton-meters (Nm). Select of values from **0 Nm** to **100 Nm**, in increments of **2 Nm**. All values less than this level is 0% of throttle. \\ **Torque max** — the torque, which limits the level of 100% throttle, Newton-meters (Nm). Select of values from **0 Nm** to **300 Nm**, in increments of **2 Nm**. \\ **Instant Torque** |
- | **U Q** — Q-axis voltage, in volts (**V**). \\ | + | ==== Remote |
- | **U D** — D-axis voltage, in volts (**V**). \\ | + | |
- | **I Q** — Q-axis current, in amperes (**А**). \\ | + | |
- | **I D** — D-axis current, in amperes (**А**). \\ | + | |
- | **Ireqest Q** — Q-axis current request, in amperes (**А**). \\ | + | |
- | **Ireqest D** — D-axis current request, in amperes (**А**). | + | |
- | ~~CL~~ \\ | + | |
- | ==== Remote | + | |
- | In the menu section | + | The **Controller** |
- | {{: | + | {{: |
- | **Throttle** — voltage on the throttle lever at a remote source (On-board computer or uLight), in volts (**V**). \\ | + | |
- | **Brake** — voltage at the brake lever at a remote source (On-board computer or uLight), in volts (**V**). \\ | + | |
- | **Throttle % **— the percentage of how much the throttle pressed at a remote source. \\ | + | |
- | **Brake %** — the percentage of how much the brake pressed at a remote source. | + | |
- | ~~CL~~ \\ | + | |
- | ===== Logger ===== | + | |
- | In the **Controller | + | Input for radio control via PWM (PWM), connects to the **P1** port of the **USB/PWM** |
- | {{: | + | The **# Input Freq.** |
- | **Start logging** — to start recording, select | + | In the menu item **Function** |
- | **Stop logging** — stop recording, select **On** to end recording. | + | ~~CL~~ |
- | ~~CL~~ | + | |
- | **Start mode** — selection of recording start mode: | + | |
- | * **Manual** — enable manual recording. | + | |
- | * **At start** — recording starts automatically when the Controller is turned on. | + | |
- | **Log time** — two parameters of time for recording to choose from: | + | \\ Adjust |
- | * **Time step** — delta of time since the previous record. | + | |
- | * **Sys time** — global time, which is incremented after the start of the controller. | + | |
- | **Log rate** — delay between records of values. You can choose either the number of PWM cycles (**PWM1**, **PWM2**, **PWM5**, **PWM10**), either time (**1ms**, **10ms**, **20ms**, **100ms**, **1s**, **5s**, **10s**, **30s**). | + | **# Throttle range** \\ **Throttle min** — minimum throttle value, in milliseconds (ms). Select of values from **0.00 ms** |
- | **Mode** — recording mode selection: | + | **# Brake range** \\ **Brake min** |
- | * **Buffered** — buffering and recording | + | |
- | * **Max rate** — continuous recording mode. | + | |
- | **Data averaging** — using filters while recording: | + | ==== Cruise control setup ==== |
- | * **None** | + | |
- | * **Fast** — slight averaging (smoothes values). | + | |
- | * **Slow** — large averaging. | + | |
- | Next, in the **# Data to log** menu sections, | + | In the menu section |
- | **# Data to log**: \\ | + | **CRe** — cruise activation. \\ **CR ** — increase cruise |
- | **Battery Voltage** — battery voltage data logging. \\ | + | |
- | **Battery Current** — battery current data logging. \\ | + | |
- | **Motor Voltage** — motor voltage data logging. \\ | + | |
- | **Motor Current** — motor current data logging. \\ | + | |
- | **Wheel speed** — wheel speed data logging. \\ | + | |
- | **Throttle** — throttle grip data logging. \\ | + | |
- | **Brake** — brake lever data logging. \\ | + | |
- | **Motor rad/s** — data logging of the angular | + | |
- | **Motor RPM** — data logging of revolutions of an electric motor per minute. \\ | + | |
- | **Tmotor °C** — data logging of the electric motor temperature. \\ | + | |
- | **Tfet °C** — data logging the temperature of field-effect transistors. \\ | + | |
- | **Raw hall input** — data logging the input status from Hall sensors without filter. \\ | + | |
- | **Hall index** — virtual position of motor. \\ | + | |
- | **FOC Vq** — Q-axis voltage data logging. \\ | + | |
- | **FOC Vd** — D-axis voltage data logging. \\ | + | |
- | **FOC Iq** — Q-axis current data logging. \\ | + | |
- | **FOC Id** — D-axis current data logging. \\ | + | |
- | **Current phA** — data logging the current | + | |
- | **Current phB** — data logging the current on the B phase of the electric motor. \\ | + | |
- | **Current phC** — data logging the current on the С phase of the electric motor. | + | |
- | ===== Device | + | For more information |
- | In the menu section | + | {{: |
- | {{:en: | + | Next are the menu items for setting the cruise: |
- | **Micro Nucular Controller** — device name depending on the type of Controller. \\ | + | **Cruise restore** — this function activates |
- | **Max supply** — 95V. The warranty covers supply voltages up to **90V** inclusive. \\ | + | |
- | **Max current** — the value of the maximum phase current, depending on the type of Controller, in amperes (A). \\ | + | |
- | **Firmware date** — firmware compilation date. \\ | + | |
- | **Firmware ver.** — version of the installed firmware, you can check for updates in the section | + | |
- | **Loader date** — the data loader compilation date. \\ | + | |
- | **Loader version** — data loader version. \\ | + | |
- | **Worked** — operating time of the Controller in kilowatt-hours (kW*h). \\ | + | |
- | **t° middle 100 h** — the average temperature of the Сontroller over the last 100 hours. \\ | + | |
- | **t° middle** — the average temperature of the Сontroller over all time. \\ | + | |
- | **Current protections** — the number of triggered overcurrent protections over all time of operation of the controller. \\ | + | |
- | **Temperature protections** — the number of triggered temperature protections over all time of operation of the controller. \\ | + | |
- | **Voltage protections** — the number of triggered voltage protections over all time of operation of the controller. \\ | + | |
- | **Power cycle** — number of controller switching on. \\ | + | |
- | **Power-on time** — total operating time of the Controller, minutes, hours, days. | + | |
+ | **Cruise EN time** | ||
- | ====== Controller (v.0.8). Under construction ====== | + | **Cruise level** |
- | The controller | + | * **Throttle** |
+ | * **Speed** | ||
+ | * **Mixed** | ||
+ | **Cruise smoothness** | ||
- | //Technical specifications | + | **# Used for cruise activation**: |
- | ^ Parameters | + | Additionally, to control the cruise, you can use the **CR ** and **CR-** functions for the buttons, which adjust the cruise speed when it is active. |
- | ^Maximum power| | + | |
- | ^Nominal power| | + | |
- | ^Voltage range| | + | |
- | ^Phase current, max| 120A | 250А | 500А | | + | |
- | ^Battery current, max| ~90A | ~150A | ~300A | | + | |
- | ^Supply out| 12В 3A ||| | + | |
- | ^Operating temperature range| | + | |
- | ^Phase wires| | + | |
- | ^Battery wires| | + | |
- | ^Hall connectors| | + | |
- | ^Wires length| | + | |
- | ^Control modes| | + | |
- | ^Protection| | + | |
- | ^Sleep current less| < | + | |
- | ^Protection class| | + | |
- | ^Size, without wires| | + | |
- | ^Weight| | + | |
- | ^Warranty| | + | |
- | //In the kit: // | + | What actions disable cruise control: |
- | * CAN-cable 1,2-meters length for connection to the On-board Computer.\\ | + | * pressing |
- | * Phase wires.\\ | + | * repeated throttle press. |
- | * Battery wires\\ | + | * if a switch is used — when it's disabled. |
- | * Hall sensors wire. | + | * reverse enable. |
- | Phase, battery, | + | ==== Throttle |
- | // | + | In the menu section **Controller** |
- | * САN-cables 0,3 and 2 meters length.\\ | + | {{: |
- | * Controller-side inputs for connection throttle, brakes levers directly to the Controller.\\ | + | |
- | * PWM/PAS wire for connection PAS, fans for cooling or brake lights.\\ | + | |
- | ===== Connection diagram ===== | + | You can select the following types of throttle and brake presets: \\ **Linear** |
- | First, connect the three phases | + | Manual setting |
- | When the power is turned on for the first time, the controller will start automatically. To enable/ | + | You can also manually edit the value of each point in the loaded preset. |
- | You can find the wiring diagrams of the other devices on this [[https:// | + | ~~CL~~ |
- | If you want to connect peripherals directly to the Controller, you need to order "Control-side inputs", | + | ==== Control |
+ | The controller supports the connection of controls (throttle, brake, switches, and buttons) to the Controller, On-board computer, ulight board, or mixed connection when one part of the periphery is connected to the Controller, and the second part to the On-board computer, or to ulight and On-board computer. This is necessary in the case of Tork/PAS sensor configurations in the Controller throttle lever in the On-board computer. In the menu item **Controller** | ||
- | {{: | + | {{: |
- | ~~CL~~ \\ | + | |
- | ===== Connecting multiple controllers ===== | + | Select of control options: \\ **Auto** |
- | If you want to connect two or more Controllers, | + | ~~CL~~ |
- | For example, for a two-motor connection scheme, which is used on all-wheel-drive electric scooters, in addition to the second controller, you will need a CAN-splitter and one more CAN wire (there are 2, 1.2, and 0.3 meters long). Each Controller has a standard CAN-wire 1.2 m long. These wires from both controllers must be connected to a CAN-splitter, | + | ==== Throttle control mode setup ==== |
- | <WRAP center round important 60%>\\ | + | The menu item **Controller** |
- | Pay attention to the connection diagram. | + | |
- | First connect all power wires and only then CAN wires. When disconnecting the controllers, | + | |
- | </WRAP>\\ | + | |
- | {{: | + | {{: |
+ | Three throttle modes options are available: \\ **Speed** | ||
- | ====== How to start? ====== | + | In the case of selecting the **Speed torque** |
- | After you have connected the Controller | + | ==== Throttle |
- | {{: | + | The menu items in the **Controller** |
- | After configuring the battery, you need to run Auto-setup in the **Controller** > **Auto-setup** menu section. Ensure that the phase and battery wires are well contacted and insulated before running auto-setup. Check that the Hall sensor wire connectors are fully inserted into the mating parts. For details, see the section **Auto-setup**. After auto-setup, you need to adjust the speedometer to display the speed correctly, see the section [[en: | + | {{:en: |
- | ====== Menu navigation ====== | + | Currently, voltage settings for all throttles and brakes are common. \\ **# Throttle** |
- | Use the On-board computer buttons to navigate through | + | **# Brake** |
- | ===== Settings saving ===== | + | **Brake button power** |
- | In the menu item **Controller** > **Save settings** you can save all the settings made. Press the right button of the Onboard-computer and select **On** to save. If you do not save the settings, they will be reset after restart. \\ | + | ==== Setup 100% speed value ==== |
- | ===== Auto-setup ===== | + | The menu items in the **Controller** |
- | The auto-setup function in the **Controller** > **Auto-setup** menu section allows you to automatically set up the electric motor, throttle, and brake levers. | + | {{: |
- | {{: | + | **Speed ref. filter** |
- | The auto-setup menu starts the subprogram and shows only the process. All settings are saved under **Controller** > **Motor setup**. After restarting the Controller, all switches will be in the **Off** position. | + | **Filter factor** |
- | Once you have specified the battery supply voltage in the **Controller** > **Battery** section, | + | **Speed mode** |
- | Before auto-setup | + | * **OFF** |
- | \\ | + | * **Middle U bat** — the average value between |
- | <WRAP center round important 60%>\\ | + | |
- | **Be careful! Before running autotuning, check that the drive wheels of your e-bike are not touching the surface and that the pedals (if equipped) do not touch anything when spinning. When adjusting the Hall sensors, the motor rotates | + | |
- | </ | + | * **Ref. ERPM** |
+ | **Minimum speed** | ||
- | If you have a throttle | + | **Speed lim. at 0% throttle** — enables limiting |
- | If only one throttle lever is connected, you must independently turn on the items step-by-step: | + | ===== Motor setup ===== |
- | If the motor is heavy and autodetect does not happen, you can gently push it with your hand or increase the tuning current in the **Controller** > **Auto-setup** > **Setup current** section, for example, twice. The setup current can be selected in the range from **2A** to **50A**, in increments of **1A**. | + | The **Controller** |
- | If the motor is rotating in the wrong direction, go to **Controller** > **Auto-setup** > **Spin direction** and change the direction of rotation. You can choose from two options **Forward** or **Invert**. A similar setting is available in the **Controller** > **Motor setup**> **Spin direction** menu. It doesn' | + | ==== Motor temperature sensor ==== |
- | If an error occurs during autotuning, see the section **[[en: | + | In the menu section |
- | ===== Firmware update ===== | + | {{: |
- | In the menu section | + | **°t max** — maximum electric motor temperature, |
- | {{:en:controller:k3_en.png?nolink |}} | + | In the menu item **Sensor type** |
- | **Import config.** — loads the settings from the file ** NCconf.cfg ** - ** NCconf9.cfg ** up to a maximum of 9 different configurations, | + | It is recommended |
- | **Export config.** - saves the settings to the ** NCconf.cfg ** - ** NCconf9.cfg ** file up to a maximum of 9 different configurations, | + | |
- | **Reboot** — restarts the device. If the settings have not been saved, they will be reset.\\ \\ | + | |
- | **Reset Wh usage** — resets the accumulated number | + | |
- | **Reset stats** — resets mileage in kilometers.\\ \\ | + | |
- | **Load defaults** — after a reset, the default settings are loaded but not saved. If you restart | + | |
- | **Erase | + | |
- | **Update firmware** — starting the firmware update process. You can download the current | + | |
- | ===== Control modes ===== | + | The **# °t R ( -10%)# |
- | In the menu section **Controller** > **Control modes** you can configure and save three presets of the parameters of the electric motor and switch between them using a 3-position switch or buttons on the On-board computer. The currently active mode number is displayed at the top of the main screen. After setting, it is necessary to activate the modes in the menu item **Controller** > **Additional modes** > **Enable additional modes** by setting the value **On**. In the same menu **Controller** > **Additional modes** you can make detailed settings for each mode (see the section Additional modes). | + | ==== Clutch ==== |
- | If there is no speed switch, then mode 1 is the default. If the switch is connected to the On-board computer, it is necessary | + | In the menu section **Controller** |
- | ==== Modes setup ==== | + | {{: |
- | {{:en:controller: | + | The parameter **Mode** |
- | The ** # Current mode ** line displays the currently selected control mode. List of possible options: | + | **# Phase amps** \\ **Start time** |
- | **N** — neutral. \\ | + | |
- | **S1** — speed 1. \\ | + | |
- | **S2** — speed 2. \\ | + | |
- | **S3** — speed 3. \\ | + | |
- | **RV** — reverse. \\ | + | |
- | Four parameters are used to configure each mode: \\ | + | **Hold time** — the time during which torque will be applied after releasing |
- | **Phase** — the maximum value of the phase current, in Amperes | + | |
- | **Battery** — the maximum value of the battery current, in Amperes (**A**). Select of values from **2A** to **400A**, in increments of **2A**. When setting up, consider the capabilities of the connected battery and the maximum battery current of your controller type.\\ | + | <WRAP center round tip 60%> \\ Optimal settings for MAC motor: |
- | **Power** — maximum power (discharge) of the battery, in kilowatts (**kW**). Select of values from **0.00kW** to **30.0kW**, in increments of **0.1kW**. Set to 0.0kW to disable the power limiting limit.\\ | + | ==== Hall sensors setup ==== |
- | **Speed** — maximum speed in percentage (%). Select of values from **4%** to **150%**, in increments of **2%**. The value of this parameter determines | + | Under the menu section |
- | ==== Electric brake setup ==== | + | === Manual |
- | **Braking phase** — the value of the phase current of braking by the motor, in Amperes (**A**). Select of values from **0A** to **500A**, in increments of **2A**. For braking to zero, it is recommended to enable | + | In general, it is not recommended to change these settings manually! \\ In the menu section |
- | ==== Braking phase at speed control ==== | + | {{: |
- | **Braking ph. at speed** — phase braking current during speed control, in Amperes | + | **Offset for square** — additional shift for square wave mode, in degrees |
- | Also to use this mode should | + | To shift all the halls, you must press the right button of the On-board computer, enter the shift angle, press the right button again. The value will be reset and the angle of all halls will change to the specified value. You can change |
- | **Speed** or **Speed | + | |
- | In the menu item **Controller** > **Control** > **Speed lim. at 0% throttle** enable | + | |
- | ==== Regenerative braking | + | **Reset angles** |
- | **Braking ph. at 0% throttle** — phase braking current with the throttle handle released, in Amperes (A). Select of values from **0A** to **500A**, in increments of **2A**. This function allows regenerative braking to be initiated when the throttle is released. \\ | + | === Hall table === |
- | This function will be active if additional modes are disabled in the **Controller** > **Advanced modes** menu section or if, with activated additional modes, in one of the menu sections | + | The **Controller** |
- | ==== Reverse setup ==== | + | |
- | **Speed reverse** — reverse speed, in percentage (%). Select of values from ** 2% ** to ** 150% **, in increments of ** 2% **. The value of this parameter determines the percentage of speed depending on the reference speed (see section **[[en:controller: | + | {{: |
- | **Phase reverse** — the value of the reverse phase current, in Amperes (**A**). Select of values from **10A** to **500A**, in increments of **2A**.\\ | + | ~~CL~~ |
+ | === Advanced Hall sensor settings === | ||
- | ==== Field weakening setup ==== | + | Further in the menu section **Controller** |
- | **Field weakening** — the magnitude of the field weakening current, in Amperes (**A**). Select of values from **0A** to **500A**, | + | {{: |
- | <WRAP center round info 60%>\\ | + | **Sensor type** |
- | The current | + | |
- | </ | + | |
- | To set up the weakening, you need: | + | **Sensor mode** |
- | * for one of the control modes in the section | + | |
- | | + | |
- | Field weakening is activated when the maximum | + | **Interpolate halls** |
- | Also, the Controller will limit the speed of rotation of the motor so that its effective EMF does not exceed the maximum supply voltage | + | **Interpolation start** |
- | ==== Current change speed ==== | + | **Frequency control** |
- | **# Current change speed**. | + | **Hall filter** |
- | * acceleration, | + | |
- | * braking, select | + | |
- | * shutdown, select of values | + | |
- | Three parameters determine | + | **State filter** |
- | ===== Advanced control modes ===== | + | **Direction filter** |
- | In the menu section **Controller** > **Advanced modes** enables the control modes and activates the advanced settings for each of these modes.\\ | + | ==== Motor parameters ==== |
- | {{: | + | Items in the **Controller** |
- | To activate the control modes, select **Controller** > **Advanced modes** > **Enable add. modes** and to set **On**. \\ | + | {{: |
- | In the menu **Controller** > **Advanced modes** > **Neutral by default** you can activate | + | **Pole pair** |
- | ~~CL~~ \\ | + | |
- | Each mode has its own section in the **Controller** > **Advanced modes** > **Mode S1, Mode S2, Mode S3 ** with the following settings: \\ | + | **Spin direction** — this setting allows you to change the direction of rotation of the electric motor. Select of values |
- | {{: | + | **Integration thr.** — the analog |
- | **Throttle mode** — selection | + | |
- | **Acceleration lim.** and **Deceleration lim.** — are specified in ERPM/s, select of values from **0 ERPM/s** to **500000 ERPM/s**, in increments of **200 ERPM/ | + | **Control mode** — this parameter is loaded at start-up |
- | **Braking ph. at 0% throttle** — phase braking current with the throttle handle released, | + | The control mode selected in this menu is the priority setting for the controller. If the Hall sensor mode is selected |
- | **Revers** — reverse gear activation when the control mode is selected. Select of values **On** or **Off**. \\ | + | **Max motor U** — limits voltage supplied to the motor, in volts (**V**). In most cases, this parameter |
- | **Cruise** — activation of the cruise function. Select of values **On** or **Off**. Convenient to use with cruise mode **Allow Throttle hold** in the menu section **Controller** > **Control** > **Cruise** > **Cruise** to enable cruise in certain modes. See section | + | **kV** — motor parameter, electric revolutions per volt (**eRPM/V**). |
- | **Disable motor** — completely disables motor control. Select of values **On** or **Off**. \\ | + | Next are the menu items for configuring the MTPA, this function allows you to introduce a negative id current to increase the torque on the IPM motors. |
- | **Disable throttle** — disable throttle control. Select | + | **Phase resistance** — the result |
- | **Active braking** — allow the brake to use the battery for stopping. Select | + | **Inductance d** — the result of measuring |
- | **Reverse on brake** — after stopping, pressing | + | **Inductance q** — the result |
- | **Speed lim. at 0% throttle** — allows limiting | + | **Flux linkage** — is the total magnetic flux permeating |
- | **Disable PAS** — disables | + | **# Square wave settings:** \\ **Square offset** |
- | **PAS Scale** — extra PAS multiplier for tuning, decreases PAS signal for smoother control on high power modes. Select of values from **1%** to **100%**, in increments of **1%**. | + | ===== Battery ===== |
- | ===== Control ====== | + | In the **Controller** > **Battery** menu section you can set up the parameters of the battery connected to the Controller. The Nucular controllers support supply voltages from **20V** to **90V**, this is **21S** for Lithium-ion (Li-ion) batteries and **25S** for Lithium-iron-phosphate (LiFePO4) batteries. To configure the battery, you must specify the range of supply voltage |
- | In the **Controller** > **Control** menu section you can setup setting | + | |
- | ==== PAS and Torque sensor setup ==== | + | {{: |
- | In the menu section | + | **Full charge** — delta voltage relative to the maximum, at which when the controller is turned on, will reset the watt-hour consumption, |
- | ЧTo be able to connect the PAS system, it is necessary to order the PWM IO/PAS cable as an option. The PAS system connects | + | **Supply max** and **Supply min** — battery voltage range, in volts (**V**). Select values from **20.00V** |
- | You can look at the connecting methods of various PAS systems at **[[en: | + | For lithium-ion (Li-ion) batteries, the minimum |
+ | For lithium-iron-phosphate (LiFePO4)-minimum **2.7V*S**, maximum **3.6V*S**. | ||
- | The PAS, unlike | + | <WRAP center round important 60%> We guarantee stable operation of the Controller at voltages up to **90V** inclusive. Using a battery over 90V may damage |
- | {{: | + | **Charge max** — maximum battery charging current, during regeneration or in **Converter** mode, in amperes (**А**). Select values from **1.0A** to **400.0А**, in increments of **0.5А**. |
- | **PAS** — selection of pedaling assistant type **PAS sensor** or **Torque sensor**. If there is no PAS system, select | + | |
- | **PAS connection** — 1-wire or 2-wire connection option, two wires are used for the angle sensor | + | **Discharge max** — maximum continuous discharge current of the battery, but in boost mode, it can be more, check (Throttle control mode setup.), in amperes (**А**). Select values from **1.0A** to **400.0А**, in increments of **0.5А**. |
- | **Invert PAS** — change of direction in case of 2-wire connection. Select of values **On** or **Off**. \\ | + | |
- | **PAS poles** — number of impulses per pedal revolution. Select of values from **1** to **200**, in increments of **1**.\\ | + | |
- | **PAS min. freq.** — the minimum pedal speed (cadence) at which the motor starts, RPM. Select | + | |
- | **PAS max freq.** — the maximum pedal speed (cadence) at which the motor starts, RPM. Select of values from **10 RPM** to **1000 RPM**, in increments of **5 RPM**. \\ | + | |
- | **# PAS freq.** — the value of the signal coming from the PAS in real-time. \\ | + | **Power max** — maximum continuous discharge power, in watts (**W**). Set 0W to deactivate power limit. Select values from **0W** to **30000 W**, in increments of **100W**. |
- | **PAS timeout** — the time after which the motor turns off after stopping pedaling, in seconds | + | |
- | **PAS filter** — smoothing the control signal for smoother operation, in hertz (Hz). Select of values from **1 Hz** to **100 Hz**, in increments of **1 Hz**. \\ | + | |
- | **PAS min out** — minimum control level when PAS is running, in percent (%). Select | + | |
- | **PAS max out** — maximum control level, in percent (%). Select of values from **0%** to **100%**, in increments of **1%**. By analogy with the “pressed” throttle, PAS sends a signal within the specified limits. \\ | + | |
- | Further | + | **# DC voltage** — current supply voltage of the Controller, |
- | **Pressure scale** — in Newton-meters/ | ||
- | **Zero pressure** — zero pressure, in millivolts (mV). Select of values from **0mV** to **10000mV**, | ||
- | | ||
- | **Torque averaging** — period for which is torque value updated. Measured in half turns (turn/2). If the torque sensor measures only one pedal, then the period must be a multiple of two. Select of values from **1 turn/2** to **20 turn/2**, in increments of **1 turn/2**. \\ | ||
- | **# Torque** — shows the current torque at the sensor, in Newton-meters (Nm). \\ | + | ===== Converter ===== |
- | **# Human watt** — shows the average power you develop when pedaling, in watts (W). \\ | + | In the menu section |
- | **Human watt min** — the minimum | + | |
- | **Human watt max** — the maximum | + | |
- | **Torque min** — the torque at which the throttle signal starts to increase, Newton-meters (Nm). Select of values from **0 Nm** to **100 Nm**, in increments of **2 Nm**. All values less than this level is 0% of throttle. \\ | + | {{: |
- | **Torque max** — the torque, which limits the level of 100% throttle, Newton-meters (Nm). Select of values from **0 Nm** to **300 Nm**, in increments of **2 Nm**. \\ | + | |
- | **Instant Torque** — allows torque sensor activation without rotation. Select of values **On** or **Off**. The pressure sensor also includes frequency configuration and output level configuration as well as the usual PAS. | + | |
- | ==== Remote control ==== | + | **Enable** |
- | The **Controller** > **Control** > **RC Control** menu section allows you to configure the remote control of the Controller using an external RC receiver. \\ | + | **Auto-enable** — allows the automatic start of charging when the charging PSU is connected to the controller. Select of values |
- | {{: | + | **Detection threshold** |
- | Input for radio control via PWM (PWM), connects to the **P1** port of the **USB/PWM** connector on the Controller board. To activate the function, select the **PWM** value in the **P1 Input Mode** menu item. \\ | + | **Battery max I** — maximum battery charge current, if no value is specified then battery settings are used, in amperes (**А**). Select |
- | The **# Input Freq.** and **# Width** menu items show the current | + | **Battery min I** — minimum charge |
- | In the menu item **Function** selects the control function | + | **Undercharge** — voltage relative to maximum battery voltage setup, in volts (**V**). Let's decrease the full charge voltage. Select of values from **0.00V** |
- | ~~CL~~ \\ | + | |
- | Adjust the throttle and/or brake range as indicated by the signal.\\ | + | |
- | **# Throttle range** \\ | + | **Current drop delta** — decreases charging current down to **Battery min I** as the battery reaches |
- | **Throttle min** — minimum throttle value, in milliseconds (ms). Select of values from **0.00 ms** to **10.00 ms**, in increments of **0.01 ms**. \\ | + | |
- | **Throttle max** — maximum | + | |
- | + | ||
- | **# Brake range** \\ | + | |
- | **Brake min** — minimum brake value, in milliseconds (ms). Select of values from **0.00 ms** to **10.00 ms**, in increments of **0.01 ms**. \\ | + | |
- | **Brake max** — maximum brake value, in milliseconds (ms). Select of values from **0.00 ms** to **10.00 ms**, in increments of **0.01 ms**. | + | |
- | ==== Cruise control setup ==== | + | **Supply max I** — maximum power supply current, in amperes (**А**). Select of values from **2.0 A** to **150.0 A**, in increments of **0.5 A**. |
- | In the menu section | + | **Supply drop U** — allowable voltage drop on wires or power supply, in volts (**V**). Select of values from **0.50 V** to **10.00 V**, in increments of **0.25 V**. |
- | **CRe** — cruise activation. \\ | + | **Max motor t°** — setting the limitation of the heating temperature of the motor during charging, in degrees Celsius (**°C**). Select of values from **50°C** |
- | **CR+** — increase cruise speed (when active). \\ | + | |
- | **CR-** — decrease cruise speed (when active). \\ | + | |
- | **CRr** — restoring cruise (turning on the last saved speed). \\ | + | |
- | For more information about configuring these functions, read the **[[en: | + | Below in the menu section, through |
- | {{: | + | After plugging |
- | In the **Cruise** menu item, you can select several control modes: \\ | + | |
- | **Disabled** — cruise control disabled. \\ | + | |
- | **Button** — activation of cruise control at the push of a button. The response time of the button is determined by the parameter **Cruise EN time**. \\ | + | |
- | **Switch** — activation of cruise control by turning on the switch, time is not used. \\ | + | |
- | **Throttle hold** — activation of cruise control by holding the throttle for a certain time in one position. The response time is determined by the parameter **Cruise EN time**. The accuracy is set by the parameter **Cruise by throttle** in percent (%). Select of values from **1%** to **30%**, in increment of **1%**. Accuracy is essential, as the throttle lever moves slightly during the ride due to shaking. The default is **2%**. \\ | + | |
- | **Allow Throttle hold** — similar to the previous mode, with the difference that to activate the cruise control, you must additionally press the cruise button. \\ | + | |
- | Next are the menu items for setting | + | {{: |
- | **Cruise restore** — this function activates | + | **The indication in the middle** |
- | **Cruise EN time** — setting | + | **Indication to the left:** \\ **59.0V** |
- | **Cruise level** — selects what speed cruise will use: \\ | + | ~~CL~~ |
- | * **Throttle** — speed depends on the position of the throttle lever, turns on instantly. \\ | + | |
- | * **Speed** — cruise enables when **Safe acceleration** reached after that uses current speed as a reference. \\ | + | |
- | * **Mixed** — if controller cant use speed reference, uses throttle value. \\ | + | |
- | **Cruise smoothness** — this setting limits acceleration during cruising so that there are no jerks, measured in electrical revolutions per minute per second (ERPM/s). To get the value in rpm, the ERPM/s value must be divided by the number of pole pairs of the electric motor. Select of values from **0 ERPM/s** to **50000 ERPM/s**, in increments of **50 ERPM/s**. \\ | + | ===== I/O port configuration ===== |
- | **# Used for cruise activation**: \\ | + | In the **Controller** > |
- | **Safe acceleration** — limits the acceleration at which the cruise is activate, for example, to prevent it from engaging when accelerating, | + | |
- | **Min. speed** — speed below which you can not activate cruise or recovery, in kilometers per hour (km/h). Select of values from **3 km/h** to **127 km/h**, in increments of **1 km/h**.\\ | + | |
- | Additionally, to control | + | Sixteen CAN ports are additionally available **CAN port 1** - **CAN port 16**, the signal source for which can be configured on the On-board computer or uLight. These are software values, there are fewer physical inputs on the boards, at the moment there are eight CAN ports **IO1** |
- | What actions disable cruise control: | + | {{:en: |
- | * pressing the brake, analog or digital. | + | |
- | * repeated throttle press. | + | |
- | * if a switch is used — when it's disabled. | + | |
- | * reverse enable. | + | |
+ | In the section **Controller** | ||
- | ==== Throttle and brake curves setup ==== | + | ~~CL~~ |
- | In the menu section | + | In the item ** Controller **> **I/O configuration** > **Speeds mode** you can select |
- | {{: | + | {{: |
- | You can select | + | Available functions for the Controller ports **S1**, **S3**, **RV**, **CR**, **P1**, **P2**, **P**, **M** |
- | **Linear** — smooth increase, direct dependence. \\ | + | |
- | **Exponential** — slow increase. \\ | + | |
- | **Normal** — average between linear | + | |
- | **Polynomial** — average between normal and exponential. \\ | + | |
- | Manual setting of throttle and brake position points is also available, to do this select **None** | + | Further |
- | **Start** — starting point, in percentages (%). Select of values from **0%** to **100%**, in increments of **1%**. \\ | + | |
- | **1**-**6** — midpoints, in percentages (%). Select of values from **0%** to **100%**, in increments of **1%**. \\ | + | |
- | **End** — end point, in percentages (%). Select of values from **0%** to **100%**, in increments of **1%**. \\ | + | |
- | You can also manually edit the value of each point in the loaded preset. | + | ~~CL~~ |
- | ~~CL~~ | + | |
- | ==== Control source ==== | + | |
- | The controller supports the connection of controls (throttle, brake, switches, and buttons) to the Controller, On-board computer, ulight board, or mixed connection when one part of the periphery is connected to the Controller, and the second part to the On-board computer, or to ulight and On-board computer. This is necessary in the case of Tork/PAS sensor configurations in the Controller + throttle lever in the On-board computer. In the menu item **Controller** > **Control** > **Control Source** you can set up the control source of the Controller`s. \\ | + | ==== PWM output setup ==== |
- | {{: | + | To activate the **PWM P1** or **PWM P2** output, the **Controller** |
- | Select of control options: \\ | + | **PWM freq** — selection of frequency of additional PWM output on ports **P1/P2**. Select of values PWM frequency — **100Hz**, **500Hz**, **1kHz**, **5kHz**, **10kHz**, **24kHz |
- | **Auto** — all sources will control the Сontroller. Built-in and external, connected via CAN bus (for example, On-board computer or ulight). \\ | + | |
- | **Embedd** — only what is connected directly to the Сontroller. \\ | + | |
- | **Remote** — control only via CAN bus (via On-board computer or Microlight). \\ | + | |
- | **Disabled** — disables any control | + | |
- | ~~CL~~ \\ | + | |
- | ==== Throttle control mode setup ==== | + | **PWM P1** and **PWM Р2** — selection of operating modes: |
- | The menu item **Controller** > **Control** > **Throttle mode** you can set up throttle lever mode. | + | * **Disabled** |
+ | * **Stop-light** | ||
+ | * **Headlight** | ||
+ | * **t°C motor** | ||
+ | * **t°C controller** | ||
+ | **PWM Pn Min** / **Max** | ||
- | {{: | + | ===== Extra parameters ===== |
- | Three throttle modes options are available: | + | In the menu section |
- | **Speed** — a similar mode is used in Infineon controllers and non-programmable low-cost controllers and is characterized by the use of maximum current to reach a given speed. | + | |
- | **Torque** — in this mode, the throttle controls phase current, the thrust is limited by the angle of rotation of the throttle. \\ | + | |
- | **Speed+torque** — combined mode (as Kelly), similar to the operation | + | |
- | In the case of selecting the **Speed+torque** mode, pressing throttle to 50%, when achieved 50% speed, the current consumption will be reduced to hold speed. The acceleration current will also be proportionally lower. \\ | + | ==== The power button |
- | ==== Throttle | + | |
- | The menu items in the **Controller** > **Control** section allow you to set the voltage ranges of the throttle and brake grips. \\ | + | The controller power button is located on the back of the On-Board Computer. In the **Controller** |
- | {{: | + | {{: |
- | Currently, voltage settings | + | Selecting modes for **Disable button**: |
- | **# Throttle** — shows the voltage of throttle grip connected to the controller, | + | |
- | **Throttle min** and **Throttle max** — range of the throttle grip, in millivolts | + | |
- | **# Brake** — shows the voltage | + | **Auto shutdown** — activation |
- | **Brake min** and **Brake max** — range of the analog brake lever, in millivolts (mV). Select of values | + | |
- | **Brake button power** — braking force when pressing the brake button relative to the phase braking level, in percent (%). This setting allows you to adjust the level of braking force with the brake levers with integrated brake buttons. \\ | + | **Sleep time** — selection |
- | **Invert brake** — inverts the voltage value from the built-in brake lever. Select **On** to enable. It is useful to enable | + | |
- | **Active braking** — enables brake to use the battery for stopping. Select of values **On** and **Off**. \\ | + | |
- | **Brake at overheat** — enables full torque braking when motor overheated. Select of values **On** and **Off**. \\ | + | |
- | **Reverse on brake** — after stopping, pressing the brake lever again activates reverse. Select | + | |
- | ==== Setup 100% speed value ==== | + | |
- | The menu items in the **Controller** > **Control** section allow you to adjust | + | **Lock at turn-on** |
- | {{: | + | ==== Speedometer setup ==== |
- | **Speed ref. filter** — filter mode selection. Select | + | The next block of settings in the menu section |
- | **Filter factor** — sets the filtration factor. Select of values from **0** to **30000**, in increments of **100**. \\ | + | {{: |
- | **Speed | + | **Speed |
- | * **OFF** | + | |
- | * **Middle U bat** — the average value between the minimum and maximum voltage of the battery settings used as speed reference, depending on motor kV. \\ | + | |
- | * **U supply** — supply voltage used as speed reference, depending on motor kV. \\ | + | |
- | * **Ref. speed** — speed in km/h, is set by parameter **Reference speed**. The speed value is taken from the motor or from an external | + | |
- | | + | |
- | **Minimum speed** — | + | **Circumference** |
- | **Speed lim. at 0% throttle** — enables limiting | + | **Motor sprocket** — this setting specifies |
- | ===== Motor setup ===== | + | **Wheel sprocket** |
- | The **Controller** > **Motor | + | If you have a wheel motor, then in the section |
- | ==== Motor temperature sensor | + | ==== Master-controller |
- | In the menu section **Controller** > **Motor setup** > **Motor t°-sensor** you can select a temperature range in which a smooth power limit will occur (**Delta °t** parameter) and specify | + | {{: |
- | {{: | + | ~~CL~~ |
- | **°t max** — maximum electric motor temperature, | + | ==== Other settings ==== |
- | **Delta °t** — the temperature value that is deducted from the maximum temperature (**°t max**), the resulting temperature value will be the beginning of the power limit, in degrees Celsius (°C). Select of values from **1°C** to **100°C**, in increments of **1 °C**. \\ | + | |
- | In the menu item **Sensor type** you can select | + | {{: |
- | It is recommended to install a temperature sensor so close as possible on the stator windings, while not in contact with the stator iron. If you don't know what kind of sensor | + | **Device ID** — setting |
- | The **# °t R (+-10%)#** menu item displays | + | **Prefix 1** and **Prefix 2** — controller name setting for multi-motor configurations. Using the prefixes together or separately, you can specify where the electric motor that the Controller controls is located. The selectable values for each prefix are **None**, **Front**, **Rear**, **Left**, **Right**. To save the setting, go to the **Controller** |
- | ==== Clutch ==== | + | For example, you have a 2WD scooter and two 12F controllers, |
- | In the menu section **Controller** > **Motor Setup** > **Clutch** | + | If you are using a 3WD drive or more, then both prefixes must be used for the controller name. For example, if the controller is driving a rear right motor, the setting |
- | {{: | + | ===== PID regulators ===== |
- | The parameter **Mode** determines | + | In the **Controller** > |
- | **Accelerate** — smoothly accelerates the motor until the load appears. \\ | + | |
- | **Accelerate and hold** — in addition to the previous one, it applies weak torque | + | |
- | **# Phase amps** \\ | + | {{: |
- | **Start time** — maximum time for soft start, in seconds (s). Select values from **1s** to **20s**, in increments of **1s**. \\ | + | |
- | **Start current** — phase motor current at which the load will be detected and the soft start is disabled, in amperes (А). Select values from **0.2А** to **50.0А**, in increments | + | |
- | **Detection time** — the time during which the load must be present, after which the soft start will be switched off, in milliseconds (ms). Select values from **10 ms** to **1000 ms**, in increments of **10 ms**. \\ | + | |
- | **Acceleration** — value in volts/ | + | |
- | **Hold (20%)** and **Hold (80%)** | + | |
- | **Hold enable time** — time through which after the throttle has been pressed, torque hold will become available, in seconds (s). Select values from **1s** to **120s**, in increments of **4s**. \\ | + | |
- | **Hold time** — the time during which torque will be applied after releasing | + | **Square Ki, Kp** — phase current regulator for a square wave. \\ **FOC Ki, Kp** — phase current regulator for FOC mode. \\ **FW Ki, Kp** — field weakening coefficients. \\ **DCv Ki, Kp** — voltage regulator on the DC bus. \\ **DCi Ki, Kp** — current regulator on the DC bus. \\ **DCw Ki, Kp** — power calculator. \\ **Speed Ki, Kp, Kd** — speed regulator for throttle control modes **Speed** |
- | <WRAP center round tip 60%>\\ Optimal settings for MAC motor: **Accelerate**, | + | ~~CL~~ |
- | ==== Hall sensors setup ==== | + | ===== Status flags ===== |
- | Under the menu section | + | The **Controller** |
- | === Manual setup the Hall sensors angles === | + | {{: |
- | In general, | + | **Reset? |
- | In the menu section | + | |
- | {{: | + | ===== Debug information ===== |
- | **Offset for square** — additional shift for square wave mode, in degrees (**°**). Select | + | The menu section |
- | **Offset total fwd** — shift all Halls sensors by the specified value for the direct rotation of the motor, | + | |
- | **Offset total bkwd** — shift all Halls sensors by the specified value for the reverse rotation | + | |
- | To shift all the halls, you must press the right button of the On-board computer, enter the shift angle, press the right button again. The value will be reset and the angle of all halls will change to the specified value. You can change the angle of the hall shift in the opposite direction by setting a negative value. \\ | + | {{: |
- | **Reset angles** — reset of all Hall sensors angles. Select | + | **Temp FET** — temperature |
- | **Integration threshold** — analogue of Hall angles for sensorless engine control mode, in volts (**V**). \\ | + | |
- | **Hall adjust Ki** — the meaning of the coefficient is to find the midpoint of the position of the Hall sensors when adjusting them. Values from **0.02** to **5.00**, in increments of **0.02**. If the value of the coefficient is too small, then the tuning process will end before | + | |
- | === Hall table === | + | Next in the menu are the sections **Debug FOC** and **Remote inputs**, which are described below. |
- | The **Controller** > **Motor Setup** > **Hall table** menu section shows the Hall indices and Hall angles for the two directions of rotation of the electric motor. These indices are used for the internal operation of the Controller. \\ | + | ==== Debug FOC ==== |
- | {{: | + | In the menu section **Controller** |
- | ~~CL~~ \\ | + | |
- | === Advanced Hall sensor settings === | + | {{: |
- | Further | + | **U Q** — Q-axis voltage, |
- | {{: | + | ~~CL~~ |
- | **Sensor type** — currently, by default, only one type of **Hall** sensor is available. Additional types of supported sensors will be added in future updates. | + | ==== Remote inputs ==== |
- | **Sensor mode** — this parameter is loaded at start-up and can be saved. At the moment, the Controller has the following motor control modes: \\ | + | In the menu section |
- | **Sensorless** — motor control using BEMF integration, | + | |
- | **Combined** — start the motor on Hall sensors, then switch | + | |
- | **Sensors** — electric motor control only by signals from Hall sensors. \\ | + | |
- | **Freq** — frequency control. Do not use this mode for driving! \\ | + | |
- | **Interpolate halls** — smooth change of the Hall sensors angle based on speed. Used for FOC mode. Select of values | + | {{: |
- | **Interpolation start** — the motor is always started from a discrete angle, if digital halls are used. After the specified speed, the angle starts to change smoothly. Select of values from **0 rad/s** to **100 rad/s**, in increments of **1 rad/s**. \\ | + | ~~CL~~ |
- | **Frequency control** — a separate mode that can be used to power equipment through a transformer or to dry the varnish on the motor windings. Select of values from **10 HZ** to **200 HZ**, in increments of **1 HZ**. \\ | + | ===== Logger ===== |
- | **Hall filter** — enable | + | In the **Controller |
- | **State filter** — select the delay time, in seconds (sec). Selection of values from **0.000s** to **1.000s**, in increments of **0.002s**. This delay is used if the wrong value of the Hall sensors is received. All indicators that are less than the set value will be filtered out. \\ | + | {{: |
- | **Direction filter** — select the delay time for changing the direction of rotation | + | **Start logging** — to start recording, |
- | ==== Motor parameters ==== | + | **Stop logging** |
- | Items in the **Controller** > **Motor setup** menu section allow you to configure the parameters of the electric motor. | + | ~~CL~~ |
- | {{:en: | + | \\ **Start mode** |
- | **Pole pair** — the number of pole pairs of the stator winding of the electric motor determines the speed at which the motor shaft will rotate. This parameter | + | |
+ | * **At start** | ||
+ | **Log time** — two parameters of time for recording to choose from: | ||
- | **Spin direction** — this setting allows you to change the direction of rotation | + | |
+ | | ||
+ | **Log rate** — delay between records of values. You can choose either | ||
- | **Integration thr.** — the analog of Hall sensors angles for sensorless motor control | + | **Mode** — recording |
- | **Control mode** — this parameter is loaded at start-up | + | |
- | **Off** — control | + | * **Max rate** |
- | **Square** — outdated control method used only for motor detection. \\ | + | **Data averaging** — using filters while recording: |
- | **FOC** — field-oriented control of the motor. \\ | + | |
- | **DC-DC** — charging mode when you use the controller in motor charging mode. \\ | + | |
- | The control mode selected in this menu is the priority setting for the controller. | + | * **None** |
+ | * **Fast** | ||
+ | * **Slow** | ||
+ | **Add header to log** — adding | ||
- | **Max motor U** — limits voltage supplied to the motor, in volts (**V**). In most cases, this parameter is not needed. Select | + | Next, in the **# Data to log** menu sections, you can select the set of parameters you want to record. Select **On** to enable parameter recording. |
- | **kV** — motor parameter, | + | {{: |
- | Next are the menu items for configuring the MTPA, this function allows you to introduce a negative id current to increase the torque on the IPM motors. | + | ===== Statistics ===== |
- | **Phase resistance** — the result of measuring the phase resistance of the electric motor during auto-setup (menu item **Motor LR**), in Ohms (Ohm). \\ | + | In the menu section |
- | **Inductance d** — the result of measuring the inductance of the electric motor along the d axis during auto-setup (menu item **Motor LR**), in microHenry (µH). The d-axis (" | + | {{: |
- | **Inductance q** — the result of measuring the inductance of the electric motor along the q axis during auto-setup (menu item **Motor LR**), in microHenry | + | **Wh used total** — total energy consumption (used plus regen), in Watt-hours (**Wh**). \\ **Wh used** |
- | **Flux linkage** — is the total magnetic flux permeating | + | The values below are approximate! \\ **Motor efficiency** — efficiency of the electric motor, in percent (**%**). \\ **Eff. average** |
- | **# Square wave settings:** \\ | + | ===== Device information ===== |
- | **Square offset** — additional shift for square wave mode, in degrees (°). Select of values from -30° to 30°, in increments of 1°. This item is similar to the same item in the menu **Controller** > **Motor setup** > **Position sensor** > **Manual angle setup**. \\ | + | |
- | **Boost square current** — in the sensorless or square mode, applies 100% PWM at the beginning of each winding switch. Starting from specified speed and minimum requested current. Select of values **On** and **Off**. \\ | + | |
- | **Boost current** — setting refers to the control mode **Square**, the minimum current from which the rapid current pumping in the windings is turned on, in amperes (**А**). Select of values from **0A** to **100A**, in increments of **1A**. \\ | + | |
- | **Boost speed** — setting refers to the control mode **Square**, the minimum speed after which the rapid pumping of current in the windings is turned on, in radians per second (**rad/ | + | |
+ | In the menu section **Controller** | ||
- | ===== Battery ===== | + | {{: |
- | In the **Controller** | + | **Micro Nucular |
- | {{: | ||
- | |||
- | **Full charge** — delta voltage relative to the maximum, at which when the controller is turned on, will reset the watt-hour consumption, | ||
- | |||
- | **Supply max** and **Supply min** — battery voltage range, in volts (**V**). Select values from **20.00V** to **95.00V**, in increments of **00.1V**. Also, these settings are used for the **Converter** mode. \\ | ||
- | |||
- | For lithium-ion (Li-ion) batteries, the minimum can be considered **2.8V*S**, the maximum **4.2V*S**. \\ | ||
- | For lithium-iron-phosphate (LiFePO4)-minimum **2.7V*S**, maximum **3.6V*S**. \\ | ||
- | |||
- | <WRAP center round important 60%> | ||
- | We guarantee stable operation of the Controller at voltages up to **90V** inclusive. Using a battery over 90V may damage the Controller and void the warranty. | ||
- | </ | ||
- | |||
- | |||
- | **Charge max** — maximum battery charging current, during regeneration or in **Converter** mode, in amperes (**А**). Select values from **1.0A** to **400.0А**, | ||
- | |||
- | **Discharge max** — maximum continuous discharge current of the battery, but in boost mode, it can be more, check (Throttle control mode setup.), in amperes (**А**). Select values from **1.0A** to **400.0А**, | ||
- | |||
- | **Power max** — maximum continuous discharge power, in watts (**W**). Set 0W to deactivate power limit. Select values from **0W** to **30000 W**, in increments of **100W**. | ||
- | |||
- | **# DC voltage** — current supply voltage of the Controller, in volts (**V**). | ||
===== Converter ===== | ===== Converter ===== | ||
Line 1763: | Line 1491: | ||
In the **Controller ** > **Logger** menu section, you can enable and configure the data logging during the operation of the Controller. This functionality is experimental, | In the **Controller ** > **Logger** menu section, you can enable and configure the data logging during the operation of the Controller. This functionality is experimental, | ||
- | {{: | + | {{: |
**Start logging** — to start recording, select **On** and press the right button of the On-board computer. After that, the **#State** menu item will change to **Waiting** status. The recording will start automatically after pressing the throttle grip. If an error occurs during the recording process, you will see its code in the ** # Error code ** menu item. In case of an error, firstly, check that the SD card has the FAT32 file system, and secondly, that there is free space on the SD card for recording. Additionally, | **Start logging** — to start recording, select **On** and press the right button of the On-board computer. After that, the **#State** menu item will change to **Waiting** status. The recording will start automatically after pressing the throttle grip. If an error occurs during the recording process, you will see its code in the ** # Error code ** menu item. In case of an error, firstly, check that the SD card has the FAT32 file system, and secondly, that there is free space on the SD card for recording. Additionally, | ||
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* **Fast** — slight averaging (smoothes values). | * **Fast** — slight averaging (smoothes values). | ||
* **Slow** — large averaging. | * **Slow** — large averaging. | ||
+ | |||
+ | **Add header to log** — adding the name of the controller when writing the log, so that you can understand which controller the log belongs to in multi-motors configurations. You can set the name of the controller in the menu **Controller** > **Extra parameters**, | ||
Next, in the **# Data to log** menu sections, you can select the set of parameters you want to record. Select **On** to enable parameter recording. | Next, in the **# Data to log** menu sections, you can select the set of parameters you want to record. Select **On** to enable parameter recording. | ||
+ | {{: | ||
**# Data to log**: \\ | **# Data to log**: \\ | ||
**Battery Voltage** — battery voltage data logging. \\ | **Battery Voltage** — battery voltage data logging. \\ | ||
Line 1796: | Line 1527: | ||
**Motor Current** — motor current data logging. \\ | **Motor Current** — motor current data logging. \\ | ||
**Wheel speed** — wheel speed data logging. \\ | **Wheel speed** — wheel speed data logging. \\ | ||
- | **Throttle** — throttle grip data logging. \\ | ||
- | **Brake** — brake lever data logging. \\ | ||
**Motor rad/s** — data logging of the angular speed of the electric motor. \\ | **Motor rad/s** — data logging of the angular speed of the electric motor. \\ | ||
**Motor RPM** — data logging of revolutions of an electric motor per minute. \\ | **Motor RPM** — data logging of revolutions of an electric motor per minute. \\ | ||
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**Raw hall input** — data logging the input status from Hall sensors without filter. \\ | **Raw hall input** — data logging the input status from Hall sensors without filter. \\ | ||
**Hall index** — virtual position of motor. \\ | **Hall index** — virtual position of motor. \\ | ||
+ | **Throttle %** — throttle grip data logging. \\ | ||
+ | **Brake %** — brake lever data logging. \\ | ||
**FOC Vq** — Q-axis voltage data logging. \\ | **FOC Vq** — Q-axis voltage data logging. \\ | ||
**FOC Vd** — D-axis voltage data logging. \\ | **FOC Vd** — D-axis voltage data logging. \\ | ||
**FOC Iq** — Q-axis current data logging. \\ | **FOC Iq** — Q-axis current data logging. \\ | ||
**FOC Id** — D-axis current data logging. \\ | **FOC Id** — D-axis current data logging. \\ | ||
+ | **FOC Iq request** — Q-axis current request data logging. \\ | ||
+ | **FOC Id request** — D-axis current request data logging. \\ | ||
**Current phA** — data logging the current on the A phase of the electric motor. \\ | **Current phA** — data logging the current on the A phase of the electric motor. \\ | ||
**Current phB** — data logging the current on the B phase of the electric motor. \\ | **Current phB** — data logging the current on the B phase of the electric motor. \\ | ||
- | **Current phC** — data logging the current on the С phase of the electric motor. | + | **Current phC** — data logging the current on the С phase of the electric motor. |
+ | **PAS frequency RPM** — PAS frequency data logging. \\ | ||
+ | **PAS torque Nm** — PAS torque data logging. \\ | ||
+ | **PAS power W** — PAS power data logging. \\ | ||
+ | **Speed request** — speed request data logging. \\ | ||
+ | **Torque request** — torque request data logging.\\ | ||
+ | |||
+ | ===== Statistics ===== | ||
+ | |||
+ | In the menu section **Controller** > **Statistics** you can view the data on the Controller. These are trip statistics that will be automatically reset when the controller is powered off. If you have several Controllers in the system, then you can see the summary data for all controllers in the general statistics in the On-board computer. \\ | ||
+ | |||
+ | {{: | ||
+ | |||
+ | **Wh used total** — total energy consumption (used plus regen), in Watt-hours (**Wh**). \\ | ||
+ | **Wh used** — energy consumption, | ||
+ | **Wh regen.** — energy gained during the recuperation process, in Watt-hours (**Wh**). \\ | ||
+ | **Regen. %** — the percentage of energy recovered during recuperation (**%**). \\ | ||
+ | **Ah used total** — total energy consumption (used plus regen), in Ampere hours (**Ah**). | ||
+ | **Ah used** | ||
+ | **Ah regen.** — energy gained during the recuperation process, in Ampere hours (**Ah**). \\ | ||
+ | The values below are approximate! \\ | ||
+ | **Motor efficiency** — efficiency of the electric motor, in percent (**%**). \\ | ||
+ | **Eff. average** — average efficiency of the electric motor, in percent (**%**). \\ | ||
+ | **Torque** — current torque of the electric motor, in Newton-meters (**Nm**). \\ | ||
+ | **Power out** — the power that the electric motor delivers, in Watts (**W**). \\ | ||
+ | **Power in** — power supplied to the electric motor, in Watts (**W**). \\ | ||
===== Device information ===== | ===== Device information ===== | ||