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en:controller:setup [2023/09/30 15:00]
dmitry 		en:controller:setup [2025/03/19 09:36] (current)
dmitry [Connection diagram]
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 ^Battery wires|  12AWG XT60  |  10AWG XT90  |  No wires, M6 terminals  | ^Battery wires|  12AWG XT60  |  10AWG XT90  |  No wires, M6 terminals  |
 ^Hall connectors|  2.8mm 6P auto or Juliet waterproof  ||  JWPF 8P connector (Hall/Encoder)  | ^Hall connectors|  2.8mm 6P auto or Juliet waterproof  ||  JWPF 8P connector (Hall/Encoder)  |
-^Wires length|  140 mm  |  190 mm   |   No wires   | +^Wires length|  140 mm  |  190 mm  |  No wires  | 
-^Control modes|  Square, sensorless, FOC, charger, MPPT  ||| +^Control modes|  Square, sensorless, FOC, charger, MPPT  |||
 ^Protection|  Temperature, hardware overcurrent protection, IO ports overvoltage protection for P24F  ||| ^Protection|  Temperature, hardware overcurrent protection, IO ports overvoltage protection for P24F  |||
 ^Protection class|  IP57 (IP67 with compound)  ||  IP67 (compound filled)  | ^Protection class|  IP57 (IP67 with compound)  ||  IP67 (compound filled)  |
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   * Controller-side inputs for connection throttle, brakes levers directly to the Controller.   * Controller-side inputs for connection throttle, brakes levers directly to the Controller.
   * PWM/PAS wire for connection PAS, fans for cooling or brake lights.   * PWM/PAS wire for connection PAS, fans for cooling or brake lights.
- 
  
 ===== Connection diagram ===== ===== Connection diagram =====
Line 46: Line 45:
 First, connect the three phases of the electric motor. It does not matter in which order and by which color you connect the phases, the controller will automatically detect them during auto-setup. Next, connect the hall connector as shown in the diagram below. You also need to connect the throttle lever and battery power. We also recommend connecting the brake levers, as their actuation turns off the motor. A simple rule — in any incomprehensible situation, press the brake. First, connect the three phases of the electric motor. It does not matter in which order and by which color you connect the phases, the controller will automatically detect them during auto-setup. Next, connect the hall connector as shown in the diagram below. You also need to connect the throttle lever and battery power. We also recommend connecting the brake levers, as their actuation turns off the motor. A simple rule — in any incomprehensible situation, press the brake.
  
-When the power is turned on for the first time, the controller will start automatically. To enable/disable the controller, you must connect an external switch according to the diagram or configure the button located on the back of the On-board computer in the menu **Devices** > **Controller** > **Extra parameters** > **Disable button**.\\+When the power is turned on for the first time, the controller will start automatically. To enable/disable the controller, you must connect an external switch according to the diagram or configure the button located on the back of the On-board computer in the menu **Devices**  > **Controller**  > **Extra parameters**  > **Disable button**.
  
-You can find the wiring diagrams of the other devices on this [[https://bit.ly/3zPIYvn|link]]. By default, all peripherals (throttle, brake, switches, etc.) are connected into ports located on the backside of **[[en:display:start|On-board computer]]**. To access the ports, you need to unscrew five screws and remove the plastic cover. For connection, use PHD 2.0 connectors and crimp pins, which are included in the kit. If you do not have a crimping tool such as Crimper SN-2549, you must order "Crimped wires for display". The On-board computer is connected to the controller with one CAN-wire 1.2 meters long, which is included in the controller kit. Be careful, the CAN-wire from the Controller is connected to the **SYSTEM** connector on the backside of the On-board computer.+You can find the wiring diagrams for 6F,12F,24F, On-board computer and uLigt on this [[https://drive.google.com/file/d/175f4Cv4QuhjYu4UIwU951rA5HNJUEr5k/view?usp=drive_link|link]], wiring diagram for P24F and Encoder board [[https://docs.nucular.tech/doku.php?id=en:controller:schematic|here]]. By default, all peripherals (throttle, brake, switches, etc.) are connected into ports located on the backside of **[[:en:display:start|On-board computer]]** . To access the ports, you need to unscrew five screws and remove the plastic cover. For connection, use PHD 2.0 connectors and crimp pins, which are included in the kit. If you do not have a crimping tool such as Crimper SN-2549, you must order "Crimped wires for display". The On-board computer is connected to the controller with one CAN-wire 1.2 meters long, which is included in the controller kit. Be careful, the CAN-wire from the Controller is connected to the **SYSTEM**  connector on the backside of the On-board computer.
  
-If you want to connect peripherals directly to the Controller, you need to order "Control-side inputs", in the diagram below this switching option is designated as "Alternative connection". You can also use a mixed connection, for example, connect the throttle lever to the On-board computer, and the brake lever to the Controller.\\ \\+If you want to connect peripherals directly to the Controller, you need to order "Control-side inputs", in the diagram below this switching option is designated as "Alternative connection". You can also use a mixed connection, for example, connect the throttle lever to the On-board computer, and the brake lever to the Controller. \\
  
 +{{:en:controller:nucular_controller_manual_eng_for_wiki.png?nolink&  }}
  
-{{:en:controller:nucular_controller_manual_eng_for_wiki.png?nolink |}} +~~CL~~
-~~CL~~ \\+
  
 ===== Connecting multiple controllers ===== ===== Connecting multiple controllers =====
  
-If you want to connect two or more Controllers, you can use a CAN splitter with four ports (purchased separately) or a lighting controller [[en:ulight|uLight]], which also has three own CAN ports. The On-board computer supports the connection of up to eight Controllers. \\ +If you want to connect two or more Controllers, you can use a CAN splitter with four ports (purchased separately) or a lighting controller [[:en:ulight|uLight]], which also has three own CAN ports. The On-board computer supports the connection of up to eight Controllers.
- +
-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, and from it one CAN-wire connects directly to the On-board computer. In the On-board computer, you can configure both controllers are separate.\\+
  
-<WRAP center round important 60%>\\ +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, and from it one CAN-wire connects directly to the On-board computer. In the On-board computer, you can configure both controllers are separate.
-Pay attention to the connection diagram. ** Do not disconnect power grounds when system wires are connected! ** +
-First connect all power wires and only then CAN wires. When disconnecting the controllers, first disconnect all CAN wires and only then disconnect the power cables; it is also recommended to discharge the controller capacitors with a resistor or an ordinary light bulb. +
-</WRAP>\\+
  
-{{:en:controller:multiplay_en.png?nolink|}}+<WRAP center round important 60%> \\ Pay attention to the connection diagram. ** Do not disconnect power grounds when system wires are connected! **  First connect all power wires and only then CAN wires. When disconnecting the controllers, first disconnect all CAN wires and only then disconnect the power cables; it is also recommended to discharge the controller capacitors with a resistor or an ordinary light bulb. </WRAP>
  
 +{{:en:controller:multiplay_en.png?nolink&}}
  
 ====== How to start? ====== ====== How to start? ======
  
-After you have connected the Controller and Controls according to the diagram, you need to configure the battery parameters. For this, go to the **Settings** > **Devices** section, select the Controller in the list of devices, then go to the **Controller** > **Battery** section and specify the supply voltage range. For a detailed description, see the section [[en:controller:setup#battery|Battery]]. \\+After you have connected the Controller and Controls according to the diagram, you need to configure the battery parameters. For this, go to the **Settings**  > **Devices**  section, select the Controller in the list of devices, then go to the **Controller**  > **Battery**  section and specify the supply voltage range. For a detailed description, see the section [[:en:controller:setup#battery|Battery]].
  
-{{:en:controller:k1_en.png?nolink|}}+{{:en:controller:k1_en.png?nolink&}}
  
-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:controller:setup#speedometer_setup|Speedometer setup]].+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:controller:setup#speedometer_setup|Speedometer setup]].
  
 ====== Menu navigation ====== ====== Menu navigation ======
  
-Use the On-board computer buttons to navigate through the menus. Left button — return to the previous menu or cancel editing. Right button — go to the menu section and confirm the parameter selection. The two middle buttons — to move up/down through the menu and select the value of the menu item.\\+Use the On-board computer buttons to navigate through the menus. Left button — return to the previous menu or cancel editing. Right button — go to the menu section and confirm the parameter selection. The two middle buttons — to move up/down through the menu and select the value of the menu item.
  
 ===== Settings saving ===== ===== Settings saving =====
  
-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. \\+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.
  
 ===== 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. If the throttle and brake levers are connected to the On-board computer, then they must be configured in [[en:display:start#control_setup|section]] menu **On-board computer** > **Control setup**. In this case, when starting the function **Full setup**, you must skip the menu items **Brake** and **Throttle** (they will be detected as an error anyway) or you can not start **Full setup** and activate each setup menu item manually starting with **Motor LR**, then **Motor** and **Angle correction**. If you have an electric motor without a temperature sensor, then you need to disable it in [[en:controller:setup#motor_temperature_sensor|menu]] section **Controller** > **Motor setup** > **Motor t°-sensor** > **Sensor type**. If this is not done, then auto-setup of the motor will show an error (Timeout).+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:display:start#control_setup|section]] menu **On-board computer**  > **Control setup**. In this case, when starting the function **Full setup**, you must skip the menu items **Brake**  and **Throttle**  (they will be detected as an error anyway) or you can not start **Full setup**  and activate each setup menu item manually starting with **Motor LR**, then **Motor**  and **Angle correction**. If you have an electric motor without a temperature sensor, then you need to disable it in [[:en:controller:setup#motor_temperature_sensor|menu]] section **Controller**  > **Motor setup**  > **Motor t°-sensor**  > **Sensor type**. If this is not done, then auto-setup of the motor will show an error (Timeout).
  
-{{:en:controller:1_0.8.png?nolink }}+{{:en:controller:1_0.8.png?nolink&  }}
  
-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.
  
-Once you have specified the battery supply voltage in the **Controller** > **Battery** section, you can proceed to calibrate the motor and levers in the Auto-setup section.+Once you have specified the battery supply voltage in the **Controller**  > **Battery**  section, you can proceed to calibrate the motor and levers in the Auto-setup section.
  
-Before auto-setup the angles, we recommend specifying the correct number of motor pole pairs in menu item **Controller** > **Auto-setup** > **Pole pairs**. See **[[[:en:motor_information|Motor information]]** for this number for the most popular motors. If your motor is not on the list, check with the manufacturer or search the Internet for information.\\ +Before auto-setup the angles, we recommend specifying the correct number of motor pole pairs in menu item **Controller**  > **Auto-setup**  > **Pole pairs**. See **[[:en:motor_information|Motor information]]**for this number for the most popular motors. If your motor is not on the list, check with the manufacturer or search the Internet for information. \\  \\ <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 in both directions, be careful and do not stand near the bicycle pedals. The motor will rotate five times, once when the motor is detected and four times when correcting the angle.**  </WRAP>
-\\ +
-<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 in both directions, be careful and do not stand near the bicycle pedals. The motor will rotate five times, once when the motor is detected and four times when correcting the angle.** +
-</WRAP>\\+
  
 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: **Throttle**, **Motor LR**, **Motor**, **Angle correction**. When you enable each of the menu items, the hints will be displayed. Auto-setup function **Motor LR** detects the inductance and resistance of the motor. You can see the measurement results in the menu section **Controller** > **Motor setup**, items **Phase resistance**, **Inductance d** and **Inductance q**.+If only one throttle lever is connected, you must independently turn on the items step-by-step: **Throttle**, **Motor LR**, **Motor**, **Angle correction**. When you enable each of the menu items, the hints will be displayed. Auto-setup function **Motor LR**  detects the inductance and resistance of the motor. You can see the measurement results in the menu section **Controller**  > **Motor setup**, items **Phase resistance**, **Inductance d**  and **Inductance q**.
  
-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**.
  
-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't matter in which menu you make the setting, after saving, the direction of rotation will be reversed in both sections.+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't matter in which menu you make the setting, after saving, the direction of rotation will be reversed in both sections.
  
-If an error occurs during autotuning, see the section **[[en:controller:diagnostics|Diagnostics of controller malfunctions]]**. In the menu item **Controller** > **Auto-setup** > **Control source** you can select the sources of control for the Controller. See Control Source section below for details**.** \\+If an error occurs during autotuning, see the section **[[:en:controller:diagnostics|Diagnostics of controller malfunctions]]**. In the menu item **Controller**  > **Auto-setup**  > **Control source**  you can select the sources of control for the Controller. See Control Source section below for details**.**
  
 ===== Firmware update ===== ===== Firmware update =====
  
-In the menu section **Controller** > **Update and Settings**, you can update the Controller's firmware, reset settings, import or export a configuration. You can upload all controller settings to a microSD card. The created file with the name **NCconf.cfg** - **NCconf9.cfg** you can open with the "Notepad" program, see all your settings, make any changes, save. Likewise, you can import a previously saved configuration into the Controller. Trip computer settings cannot be exported or imported. On-board computer settings can be exported and imported in separate [[:en:display:start#import_and_export_of_settings|sections]] of the Onboard computer menu. This function is only available in the On-board computer firmware version **0.7B** and higher.+In the menu section **Controller**  > **Update and Settings**, you can update the Controller's firmware, reset settings, import or export a configuration. You can upload all controller settings to a microSD card. The created file with the name **NCconf.cfg**  - **NCconf9.cfg**  you can open with the "Notepad" program, see all your settings, make any changes, save. Likewise, you can import a previously saved configuration into the Controller. Trip computer settings cannot be exported or imported. On-board computer settings can be exported and imported in separate [[:en:display:start#import_and_export_of_settings|sections]] of the Onboard computer menu. This function is only available in the On-board computer firmware version **0.7B**  and higher.
  
 {{:en:controller:k3_en.png?nolink&  }} {{:en:controller:k3_en.png?nolink&  }}
  
-**Import config.** — loads the settings from the file ** NCconf.cfg ** - ** NCconf9.cfg ** up to a maximum of 9 different configurations, choosing a file number from 1 to 9. After a successful import, error messages may appear in the message, this means that not all the settings have been imported. In this case, it is advisable to check the downloaded settings with the original file by opening it in Notepad.\\ +**Import config.**  — loads the settings from the file ** NCconf.cfg **  - ** NCconf9.cfg **  up to a maximum of 9 different configurations, choosing a file number from 1 to 9. After a successful import, error messages may appear in the message, this means that not all the settings have been imported. In this case, it is advisable to check the downloaded settings with the original file by opening it in Notepad. \\  \\ **Export config.**  - saves the settings to the ** NCconf.cfg **  - ** NCconf9.cfg **  file up to a maximum of 9 different configurations, choosing a file number from 1 to 9. \\  \\ **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 in the controller. This indicator is displayed in the statistics of the On-board computer, see section **[[:en:display:start#statistics|Statistics]]**. \\  \\ **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 **[[:en:firmware|Firmware]]**section. To update, download the firmware file to the root directory of the microSD card with the Fat/Fat32 file system. Insert the card with the contacts facing up into the slot on the On-Board Computer and select ** On **. When the update process is complete, a message appears on the screen **Update finished**. Press the left button and check the update version under **Controller**  > **Device Information**. 
-\\ +
-**Export config.** - saves the settings to the ** NCconf.cfg ** - ** NCconf9.cfg ** file up to a maximum of 9 different configurations, choosing a file number from 1 to 9.\\ +
-\\ +
-**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 in the controller. This indicator is displayed in the statistics of the On-board computer, see section **[[:en:display:start#statistics|Statistics]]** .\\ +
-\\ +
-**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 **[[:en:firmware|Firmware]]**section. To update, download the firmware file to the root directory of the microSD card with the Fat/Fat32 file system. Insert the card with the contacts facing up into the slot on the On-Board Computer and select ** On **. When the update process is complete, a message appears on the screen **Update finished**. Press the left button and check the update version under **Controller** > **Device Information**.+
 ===== Control modes ===== ===== Control modes =====
  
-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).+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).
  
-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 to configure the On-board computer buttons in the **On-board computer** > **Button settings** menu. See section **[[:en:display:start#buttons_setup|Buttons setup]]**.+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 to configure the On-board computer buttons in the **On-board computer**  > **Button settings**  menu. See section **[[:en:display:start#buttons_setup|Buttons setup]]**.
  
 ==== Modes setup ==== ==== Modes setup ====
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 {{:en:controller:9_0.8.png?nolink&  }} {{:en:controller:9_0.8.png?nolink&  }}
  
-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: \\ **N**  — neutral. \\ **S1**  — speed 1. \\ **S2**  — speed 2. \\ **S3**  — speed 3. \\ **RV**  — reverse.
-**N** — neutral.\\ +
-**S1** — speed 1.\\ +
-**S2** — speed 2.\\ +
-**S3** — speed 3.\\ +
-**RV** — reverse.+
  
-Four parameters are used to configure each mode:\\ +Four parameters are used to configure each mode: \\ **Phase**  — the maximum value of the phase current, in Amperes (**A**). Select of values from **0A**  to **500A**, in increments of **2A**. When setting, consider the maximum phase current of your controller type. In most cases, we recommend specifying the value of the phase current 1.5-2 times higher than the battery current.
-**Phase** — the maximum value of the phase current, in Amperes (**A**). Select of values from **0A** to **500A**, in increments of **2A**. When setting, consider the maximum phase current of your controller type. In most cases, we recommend specifying the value of the phase current 1.5-2 times higher than the battery current.+
  
-**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**  — 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.
  
-**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:controller:setup#speedometer_setup|Speedometer setup]]**). A speed value over 100% activates the field weakening mode, which allows the motor to accelerate above the supply voltage (see section **[[:en:controller:setup#field_weakening_setup|Field weakening setup]]**).+**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:controller:setup#speedometer_setup|Speedometer setup]]**). A speed value over 100% activates the field weakening mode, which allows the motor to accelerate above the supply voltage (see section **[[:en:controller:setup#field_weakening_setup|Field weakening setup]]**).
  
 ==== 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 limit switches on mechanical brakes, 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 ====
  
-**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.+**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. 
 + 
 +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.
  
-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 ==== ==== 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.+**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**.
  
-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 ====
  
-**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:setup#speedometer_setup|Speedometer setup]]**). A speed value over 100% activates the field weakening mode, which allows the motor to accelerate above the supply voltage (see section **[[:en:controller:setup#field_weakening_setup|Field weakening 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:setup#speedometer_setup|Speedometer setup]]**). A speed value over 100% activates the field weakening mode, which allows the motor to accelerate above the supply voltage (see section **[[:en:controller:setup#field_weakening_setup|Field weakening setup]]**). 
 + 
 +**Phase reverse**  — the value of the reverse phase current, in Amperes (**A**). Select of values from **10A**  to **500A**, in increments of **2A**.
  
-**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 ==== ==== Field weakening setup ====
  
-**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, in any case, the speed will be no more than the maximum supply voltage (**Vmax**) of the controller (**95V limit**).<WRAP center round info 60%> The current of weakening creates a field that acts against the field of the permanent magnets. The superposition of these fields creates an equivalent field that is below nominal. The attenuation efficiency depends on the parameters of the motor. The best results can be obtained with IPM motors. </WRAP>\\ +**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, in any case, the speed will be no more than the maximum supply voltage (**Vmax**) of the controller (**95V limit**).<WRAP center round info 60%> The current of weakening creates a field that acts against the field of the permanent magnets. The superposition of these fields creates an equivalent field that is below nominal. The attenuation efficiency depends on the parameters of the motor. The best results can be obtained with IPM motors. </WRAP> \\ <WRAP center round warning 60%>Warning! High Field weakening setting may damage your motor! It is not recommend to exceed 500Hz on a rotor for most 0.35mm steel motors</WRAP>
-<WRAP center round warning 60%>Warning! High Field weakening setting may damage your motor! It is not recommend to exceed 500Hz on a rotor for most 0.35mm steel motors</WRAP>+
  
 To set up the weakening, you need: To set up the weakening, you need:
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 To activate the control modes, select **Controller**  > **Advanced modes**  > **Enable add. modes**  and to set **On**. 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 the neutral mode (N) when the controller starts up, which will be active until one of the speed modes is activated. In 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 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). ​
  
-**Neutral timer** — switches neutral on after a certain time in seconds (**s**), which is set in the settings. To turn it off, switch the speed mode. \\+**Neutral timer**  — switches neutral on after a certain time in seconds (**s**), which is set in the settings. To turn it off, switch the speed mode.
  
 ~~CL~~ ~~CL~~
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 In the menu section **Controller**  > **Control**  > **Pedal Assist System**  you can set up the Pedal Assist System (PAS), which connects the electric motor when pedaling. In the menu section **Controller**  > **Control**  > **Pedal Assist System**  you can set up the Pedal Assist System (PAS), which connects the electric motor when pedaling.
  
-To 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** or **IO5/IO6** ports of the **USB/PWM**  connector. When using a SEMPU pressure sensor, an additional signal output from the TH port of the connector **Control**  is required. +To 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**  or **IO5/IO6**  ports of the **USB/PWM**  connector. When using a SEMPU pressure sensor, an additional signal output from the TH port of the connector **Control**  is required. Note: to use **P1/P2**  or **IO5/IO6**  ports, setup them to **Spec.**  mode in IO Configuration.
-Note: to use **P1/P2** or **IO5/IO6** ports, setup them to **Spec.** mode in IO Configuration.+
  
 You can look at the connecting methods of various PAS systems at **[[:en:controller:setup#connection_diagram|Connection diagram]]**. You can look at the connecting methods of various PAS systems at **[[:en:controller:setup#connection_diagram|Connection diagram]]**.
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 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: 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:
  
-{{:en:controller:pas_010623.png?nolink& |}}+{{:en:controller:pas_010623.png?nolink&  }}
  
-**PAS** — selection of pedaling assistant type **PAS sensor**  or **Torque sensor**. If there is no PAS system, select **Disabled**.+**PAS**  — selection of pedaling assistant type **PAS sensor**  or **Torque sensor**. If there is no PAS system, select **Disabled**.
  
-**PAS connection** — 1-wire or 2-wire connection option, two wires are used for the angle sensor (encoder). \\  +**PAS connection**  — 1-wire or 2-wire connection option, two wires are used for the angle sensor (encoder). \\ **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 of values from **1 RPM**  to **500 RPM**, in increments of **1 RPM**. \\ **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**.
-**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 of values from **1 RPM**  to **500 RPM**, in increments of **1 RPM**. \\  +
-**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. \\  +**# 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**  to **5.00s**, in increments of **0.02s**. \\ **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 value from **0%**  to **100%**, in increments of **1%**. \\ **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.
-**PAS timeout** — the time after which the motor turns off after stopping pedaling, in seconds (s). Select of values from **0.02s**  to **5.00s**, in increments of **0.02s**. \\  +
-**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 value from **0%**  to **100%**, in increments of **1%**. \\  +
-**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 in the menu are the settings related to the pressure sensor (Torque sensor). Further in the menu are the settings related to the pressure sensor (Torque sensor).
  
-**Pressure scale** — in Newton-meters/volts (Nm/V). You can calibrate by placing a load on the pedal and calculating the torque on the shaft through the lever. Select value from **0.0 Nm/V**  to **100.0 Nm/V**, in increments of **0.5 Nm/V**. \\  +**Pressure scale**  — in Newton-meters/volts (Nm/V). You can calibrate by placing a load on the pedal and calculating the torque on the shaft through the lever. Select value from **0.0 Nm/V**  to **100.0 Nm/V**, in increments of **0.5 Nm/V**. \\ **Zero pressure**  — zero pressure, in millivolts (mV). Select of values from **0mV**  to **10000mV**, in increments of **10mV**. \\ **Protection pressure**  — switching off the pressure sensor when the threshold of the specified value is exceeded, in millivolts (mV). Select of values from **0mV**  to **10000mV**, in increments of **100mV**. \\ **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**.
-**Zero pressure** — zero pressure, in millivolts (mV). Select of values from **0mV**  to **10000mV**, in increments of **10mV**. \\  +
-**Protection pressure** — switching off the pressure sensor when the threshold of the specified value is exceeded, in millivolts (mV). Select of values from **0mV**  to **10000mV**, in increments of **100mV**. \\  +
-**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).+**# Torque**  — shows the current torque at the sensor, in Newton meters (Nm).
  
-**# Human watt** — shows the average power you develop when pedaling, in watts (W). \\ **Human watt min**  — the minimum power you develop to activate the motor, in watts (W). Select of values from **0 W**  to **500 W**, in increments of **10 W**. \\  +**# Human watt**  — shows the average power you develop when pedaling, in watts (W). \\ **Human watt min**  — the minimum power you develop to activate the motor, in watts (W). Select of values from **0 W**  to **500 W**, in increments of **10 W**. \\ **Human watt max**  — the maximum power for 100% activation, in watts (W). Select of values from **0 W**  to **1000 W**, in increments of **10 W**.
-**Human watt max** — the maximum power for 100% activation, in watts (W). Select of values from **0 W**  to **1000 W**, in increments of **10 W**. +
- +
-**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. \\ +
-**Start torque** — minimum torque to trigger "Instant Torque", in newton meters (Nm). Select of values from **0 Nm** to **120 Nm**, in increments of **2 Nm**. \\ +
-**Default scale** — starting power level of PAS control (for changing PAS level with buttons), in percentages (%). Select of values from **1%** to **100%**, in increments of **1%**. \\ +
-**Button step** — power step change with button, in percentages (%). Select of values from **1%** to **100%**, in increments of **1%**.\\ +
-**# Set scale** — current PAS power level, in percentages (%).+
  
 +**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. \\ **Start torque**  — minimum torque to trigger "Instant Torque", in newton meters (Nm). Select of values from **0 Nm**  to **120 Nm**, in increments of **2 Nm**. \\ **Default scale**  — starting power level of PAS control (for changing PAS level with buttons), in percentages (%). Select of values from **1%**  to **100%**, in increments of **1%**. \\ **Button step**  — power step change with button, in percentages (%). Select of values from **1%**  to **100%**, in increments of **1%**. \\ **# Set scale**  — current PAS power level, in percentages (%).
  
 ==== Remote control ==== ==== Remote control ====
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 {{:en:controller:6_0.8.png?nolink&  }} {{:en:controller:6_0.8.png?nolink&  }}
  
-Three throttle modes options are available: \\  +Five throttle modes options are available: \\ **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. In this mode, the maximum thrust is used until the desired speed is reached, the thrust is not regulated by the throttle grip. \\ **Speed+torque**  — combined mode (as Kelly), similar to the operation of the gas pedal in a car with an internal combustion engine. 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. \\ **Torque**  — in this mode, the throttle controls phase current, the thrust is limited by the angle of rotation of the throttle. \\ **Power+torque**  — In this mode, it is possible to drive an ebike like a motorcycle with an internal combustion engine. The response is similar to the throttle grip on internal combustion engines. \\ **Power**  — in this mode, you can fine-tune the consumption from the battery using the throttle.
-**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. In this mode, the maximum thrust is used until the desired speed is reached, the thrust is not regulated by the throttle grip. \\  +
-**Speed+torque** — combined mode (as Kelly), similar to the operation of the gas pedal in a car with an internal combustion engine. 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. \\ +
-**Torque** — in this mode, the throttle controls phase current, the thrust is limited by the angle of rotation of the throttle. \\  +
-**Power+torque** — In this mode, it is possible to drive an ebike like a motorcycle with an internal combustion engine. The response is similar to the throttle grip on internal combustion engines. \\ +
-**Power** — in this mode, you can fine-tune the consumption from the battery using the throttle.\\+
  
-**Adaptive throttle** — this function allows you to more accurately dose throttle at high speed when the battery current in the settings is several times lower than the phase current. The default is set to 6%. \\+**Adaptive throttle**  — this function allows you to more accurately dose throttle at high speed when the battery current in the settings is several times lower than the phase current. The default is set to 6%.
  
 ==== Throttle and brake voltage range setup ==== ==== Throttle and brake voltage range setup ====
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 **# Brake**  — shows the voltage of the brake connected to the controller, in volts (V). \\ **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**  — shows the voltage of the brake connected to the controller, in volts (V). \\ **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. \\  +**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:display:start#buttons_setup|Buttons setup]]**. \\ **Active braking**  — enables the brake to use the battery for stopping. Select of values **On**  and **Off**. \\ **Brake at overheat**  — enables full torque braking when the motor overheats. Select of values **On**  and **Off**. \\ **Lock throttle at brake**  — disables the throttle lever after the brake is applied until the throttle is fully released. Helps with throttle lever glitches, in this case, the **Throttle lock**  flag will be set in the menu **Status flags**. \\ **Reverse on brake**  — after stopping, pressing the brake lever again activates reverse. Select of values **On**  and **Off**.
-**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:display:start#buttons_setup|Buttons setup]]**. \\  +
-**Active braking**  — enables the brake to use the battery for stopping. Select of values **On**  and **Off**. \\  +
-**Brake at overheat**  — enables full torque braking when the motor overheats. Select of values **On**  and **Off**. \\  +
-**Lock throttle at brake** — disables the throttle lever after the brake is applied until the throttle is fully released. Helps with throttle lever glitches, in this case, the **Throttle lock** flag will be set in the menu **Status flags**. \\ +
-**Reverse on brake**  — after stopping, pressing the brake lever again activates reverse. Select of values **On**  and **Off**.+
  
 ==== Boost mode ==== ==== Boost mode ====
  
-**Boost duration** (User level) — maximum power operation time, in seconds. Select of values from **0.2**s to **10**s, in increments of **0.2**s. The function works as follows: in the **Controller** > **Control modes** menu, configure the battery current to be greater than the discharge current in the battery settings in the **Controller** > **Battery** > **Discharge max** menu. Next, select the boost operating time in the **Controller** > **Controls** > **Boost duration** menu. Now, while driving, when the battery current increases more than **Discharge Max**, the countdown of the time during which this excess will work begins, i.e. Boost. After this time, the battery current will be reset to the **Discharge max** setting level. In order for the boost mode to be available again, it is necessary to drive for 1 minute at a battery current value of no more than 70% of the Discharge max value. \\ +**Boost duration**  (User level) — maximum power operation time, in seconds. Select of values from **0.2**s to **10**s, in increments of **0.2**s. The function works as follows: in the **Controller**  > **Control modes**  menu, configure the battery current to be greater than the discharge current in the battery settings in the **Controller**  > **Battery**  > **Discharge max**  menu. Next, select the boost operating time in the **Controller**  > **Controls**  > **Boost duration**  menu. Now, while driving, when the battery current increases more than **Discharge Max**, the countdown of the time during which this excess will work begins, i.e. Boost. After this time, the battery current will be reset to the **Discharge max**  setting level. In order for the boost mode to be available again, it is necessary to drive for 1 minute at a battery current value of no more than 70% of the Discharge max value.
- +
-For example, on the Sur-Ron Ultra Bee, this mode allows you to squeeze the maximum out of the standard battery and achieve a power of 21 kW instead of 12 kW. \\+
  
 +For example, on the Sur-Ron Ultra Bee, this mode allows you to squeeze the maximum out of the standard battery and achieve a power of 21 kW instead of 12 kW.
  
 ==== Setup 100% speed value ==== ==== Setup 100% speed value ====
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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**).
  
-{{:en:controller:temp_010623.png?nolink& |}}+{{:en:controller:temp_010623.png?nolink&  }}
  
 **°t max**  — maximum electric motor temperature, in degrees Celsius (°C). Select of values from **50°C**  to **200°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**. **°t max**  — maximum electric motor temperature, in degrees Celsius (°C). Select of values from **50°C**  to **200°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**.
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 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**. 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 resistance**  menu item displays the resistance of the motor temperature sensor, with an accuracy of +/-10%. \\+The **# °t resistance**  menu item displays the resistance of the motor temperature sensor, with an accuracy of +/-10%. 
 + 
 +**Resistance Offset**  — temperature sensor offset, in Ohms. Select values from **-100 Ohm**  to **100 Ohm**, in increments of **1 Ohm**. \\ **Temperature correction**  — temperature sensor correction with wire resistance. Select of values **On**  or **Off**. \\ **GND wire resistance**  — resistance of a ground wire, in Ohms. Select values from **0 Ohm**  to **1000 Ohm**, in increments of **1 Ohm**. \\ **Sensors current**  — hall sensor current consumption, if temperature sensor uses common ground with hall sensors, in milliamps (mA). Select values from **0 mA**  to **100 mA**, in increments of **1 mA**. \\ **# Total current:**  — calculated current, to check with a tester, in mA.
  
-**Resistance Offset** — temperature sensor offset, in Ohms. Select values from **-100 Ohm** to **100 Ohm**, in increments of **1 Ohm**. \\ 
-**Temperature correction** — temperature sensor correction with wire resistance. Select of values **On** or **Off**. \\ 
-**GND wire resistance** —  resistance of a ground wire, in Ohms. Select values from **0 Ohm** to **1000 Ohm**, in increments of **1 Ohm**. \\ 
-**Sensors current** — hall sensor current consumption, if temperature sensor uses common ground with hall sensors, in milliamps (mA). Select values from **0 mA** to **100 mA**, in increments of **1 mA**. \\ 
-**# Total current:** — calculated current, to check with a tester, in mA. 
 ==== Clutch ==== ==== Clutch ====
  
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 **Sensor type**  — Parameter needs reboot if manually changed. There are currently two types of sensors available: \\ **Hall**  — Hall sensors. \\ **Encoder**  — rotation angle sensor. **Sensor type**  — Parameter needs reboot if manually changed. There are currently two types of sensors available: \\ **Hall**  — Hall sensors. \\ **Encoder**  — rotation angle sensor.
  
-**Sensor mode**  — this parameter is loaded at start-up and can be saved. At the moment, the Controller has the following motor control modes: \\ **Sensorless**  — motor control using BEMF integration, parameter **Integration threshold**  is used. It is rather insensitive to tuning, but more accurate tuning may be required for high-speed motors (such as RC). At the moment, the sensorless does not have a start-up algorithm, it works stably only at some speed. Hall setups start with sensorless mode. \\ **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 only by signals from Hall sensors. \\ **Freq**  — frequency control. Do not use this mode for driving!+**Sensor mode**  — this parameter is loaded at start-up and can be saved. At the moment, the Controller has the following motor control modes: \\ **Sensorless**  — motor control using BEMF integration, parameter **Integration threshold**  is used. It is rather insensitive to tuning, but more accurate tuning may be required for high-speed motors (such as RC). At the moment, the sensorless does not have a start-up algorithm, it works stably only at some speed. Hall setups start with sensorless mode. \\ **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 to RPM = 9.5493 * Pole Pairs * rad/s. \\ **Sensors**  — electric motor control only by signals from Hall sensors. \\ **Freq**  — frequency control. Do not use this mode for driving!
  
 **Interpolate sensors**  — smooth change of the sensors angle based on speed. Used for FOC mode. Select of values **On**  and **Off**. **Interpolate sensors**  — smooth change of the sensors angle based on speed. Used for FOC mode. Select of values **On**  and **Off**.
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 Further in the menu section **Controller**  > **Motor Setup**  > **Position sensor**  > **Hall settings**  there are items for additional setting of Hall sensors. Further in the menu section **Controller**  > **Motor Setup**  > **Position sensor**  > **Hall settings**  there are items for additional setting of Hall sensors.
  
-{{:en:controller:hall_010623.png?nolink& |}}+{{:en:controller:hall_010623.png?nolink&  }}
  
 **Hall filter**  — enable or disable the filter in the direction of rotation, select the **Direction**  and **OFF**  values. **Hall filter**  — enable or disable the filter in the direction of rotation, select the **Direction**  and **OFF**  values.
  
-**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. \\+**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.
  
-**Min step filter** — minimum hall switch time, in microseconds (µs). Select values from **25 µs** to **5000 µs**, in increments of **1 µs**. \\+**Min step filter**  — minimum hall switch time, in microseconds (µs). Select values from **25 µs**  to **5000 µs**, in increments of **1 µs**.
  
-**Direction filter** — select the delay time for changing the direction of rotation of the electric motor (forward/backward), in seconds (sec). Selection of values from **0.000s**  to **1.000s**, in increments of **0.002s**. \\+**Direction filter**  — select the delay time for changing the direction of rotation of the electric motor (forward/backward), in seconds (sec). Selection of values from **0.000s**  to **1.000s**, in increments of **0.002s**.
  
-**Idle filter** — when the motor is not moving, the sensor position is reset to the middle position. Selection of values from **10ms** to **1000ms**, in **5ms** increments. \\+**Idle filter**  — when the motor is not moving, the sensor position is reset to the middle position. Selection of values from **10ms**  to **1000ms**, in **5ms**  increments.
  
-**Disable pullup** — disable hall pullup, mostly not needed. Select of values On or Off. \\+**Disable pullup**  — disable hall pullup, mostly not needed. Select of values On or Off.
  
-The next menu sections 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 next menu sections 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.
  
 ~~CL~~ ~~CL~~
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 ==== Encoder setup ==== ==== Encoder setup ====
  
-In the menu **Controller**  > **Motor Setup**  > **Position sensor**  > **Encoder settings**  there are menu items for configuring the motor encoder. The parameter values in each of the items will appear after passing through the Auto-setup procedure. Controllers with encoder capable have orange phase wires and an encoder speed of 580kHZ under **Controller**  > **Device Information**. The wire for connecting the electric motor with the encoder is ordered separately and is installed instead of the wire with connector for the Hall sensors.\\ +In the menu **Controller**  > **Motor Setup**  > **Position sensor**  > **Encoder settings**  there are menu items for configuring the motor encoder. The parameter values in each of the items will appear after passing through the Auto-setup procedure. Controllers with encoder capable have orange phase wires and an encoder speed of 580kHZ under **Controller**  > **Device Information**. The wire for connecting the electric motor with the encoder is ordered separately and is installed instead of the wire with connector for the Hall sensors. \\ **Note:**  on older controllers encoder use **P1**  input as PWM for initial position detection, setup ports **P1 (I5)**  and **P2 (I6)**  to **OFF**  and disable PWM output. Settings applied after reboot.
-**Note:** on older controllers encoder use **P1** input as PWM for initial position detection, setup ports **P1 (I5)** and **P2 (I6)** to **OFF** and disable PWM output. Settings applied after reboot.+
  
 Wiring and connectors Compatibility: \\ **Halls**  > **Encoder**  — if your controller has a connector for Hall sensors, then you can make an adapter for the encoder yourself. But, in this case, you will not be able to move when you turn it on, you will need to push the electric bike with your feet to start first time. \\ **Encoder**  > **Halls**  — if your controller has an encoder connector, then you can make an adapter for Hall sensors yourself. Everything will work. Wiring and connectors Compatibility: \\ **Halls**  > **Encoder**  — if your controller has a connector for Hall sensors, then you can make an adapter for the encoder yourself. But, in this case, you will not be able to move when you turn it on, you will need to push the electric bike with your feet to start first time. \\ **Encoder**  > **Halls**  — if your controller has an encoder connector, then you can make an adapter for Hall sensors yourself. Everything will work.
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 Items in the **Controller**  > **Motor setup**  menu section allow you to configure the parameters of the electric motor. Items in the **Controller**  > **Motor setup**  menu section allow you to configure the parameters of the electric motor.
  
-{{:en:controller:motor_en_0504.png?nolink& |}}+{{:en:controller:motor_en_0504.png?nolink&  }}
  
 **Pole pair**  — the number of magnetic pole pairs of the rotor 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 of pole pairs for your motor. For the most popular motors, you can see this value in the table **[[:en:motor_information|Motor Information]]**. If your motor is not listed in the table, check with the manufacturer for the number of pole pairs. **Pole pair**  — the number of magnetic pole pairs of the rotor 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 of pole pairs for your motor. For the most popular motors, you can see this value in the table **[[:en:motor_information|Motor Information]]**. If your motor is not listed in the table, check with the manufacturer for the number of pole pairs.
  
-**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. \\+**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.
  
-**Gear ratio** — additional motor reduction factor for motors with built-in gearbox. Simplifies setting wheel ratios for speed calculation. \\+**Gear ratio**  — additional motor reduction factor for motors with built-in gearbox. Simplifies setting wheel ratios for speed calculation.
  
 **Integration thr.**  — the analog of Hall sensors angles for sensorless motor control mode, in volts (**V**). **Integration thr.**  — the analog of Hall sensors angles for sensorless motor control mode, in volts (**V**).
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 **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 (µH). The q-axis ("quadrature") refers to the component of the stator magnetic field that is 90 ° out of phase with the rotor magnetic field. **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 (µH). The q-axis ("quadrature") refers to the component of the stator magnetic field that is 90 ° out of phase with the rotor magnetic field.
  
-**Flux linkage**  — is the total magnetic flux permeating the electrical circuit, in Weber (Wb). \\+**Flux linkage**  — is the total magnetic flux permeating the electrical circuit, in Weber (Wb).
  
-**FOC Optimization** — changes the FOC PWM mode with a choice of **Efficiency** or **Ripple**. In **Efficiency** mode — reduces losses in the controller. In **Ripple mode** — reduces current ripple in the motor and, in some cases, slightly increases motor efficiency and reduces motor noise. \\+**FOC Optimization**  — changes the FOC PWM mode with a choice of **Efficiency**  or **Ripple**. In **Efficiency**  mode — reduces losses in the controller. In **Ripple mode**  — reduces current ripple in the motor and, in some cases, slightly increases motor efficiency and reduces motor noise.
  
-**MTPA (IPM Motor)** — enable (**On**) the MTPA function for IPM motor, for all other motors this function must be disabled (**Off**). +**MTPA (IPM Motor)**  — enable (**On**) the MTPA function for IPM motor, for all other motors this function must be disabled (**Off**).
  
-**FOC Vq limit** — improves field weakening on some motors. Select of values **On** and **Off**.+**FOC Vq limit**  — improves field weakening on some motors. Select of values **On**  and **Off**.
  
 **# 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 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/s**). Select of values from **0.00rad/s**  to **2.00rad/ms**  in increments of **0.05rad/s**. **# 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 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/s**). Select of values from **0.00rad/s**  to **2.00rad/ms**  in increments of **0.05rad/s**.
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 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 and current. To correctly display the battery capacity on the On-board computer screen and correctly calculate the remaining charge, you must specify the battery capacity in [[:en:display:start#battery_capacity|settings]] of On-board Computer. If you use several batteries with different parameters on the same bike, you can save the configurations for each battery on the SD card and load them after replacing the battery. The SD card can be stored in the On-board computer. 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 and current. To correctly display the battery capacity on the On-board computer screen and correctly calculate the remaining charge, you must specify the battery capacity in [[:en:display:start#battery_capacity|settings]] of On-board Computer. If you use several batteries with different parameters on the same bike, you can save the configurations for each battery on the SD card and load them after replacing the battery. The SD card can be stored in the On-board computer.
  
-**#Quick voltage setup** — feature to help you select the correct parameters for your battery. To automatically configure the items **Full charge**, **Supply max**, **Supply min**, you need to select the type of battery chemistry from the following options:\\ +**#Quick voltage setup**  — feature to help you select the correct parameters for your battery. To automatically configure the items **Full charge**, **Supply max**, **Supply min**, you need to select the type of battery chemistry from the following options: \\ **LiIon (3.6V)**  for li-ion battery. \\ **LFP (3.2V)**  for lithium-iron-phosphate battery (LiFePO4). \\ **LTO (2.3V)**  for lithium-titanate battery (Li4Ti5O12).
-**LiIon (3.6V)** for li-ion battery.\\ +
-**LFP (3.2V)** for lithium-iron-phosphate battery (LiFePO4).\\ +
-**LTO (2.3V)** for lithium-titanate battery (Li4Ti5O12).\\+
  
-Next, select the **Cell count**, values from **8S** to **28S**, in increments of **1S**. After that, in the **Apply setup** item, select **Yes**. After saving the settings, you will see a window with new battery parameters. It is important to remember that we guarantee the operation of controllers with voltages up to 90V. The device is technically rated for 95V, but operating above 90V will void the warranty and you will be warned about this in a pop-up window. For example, if you try to select 22S for a lithium-ion battery. If the settings exceed 95V, the controller will also warn you that you are trying to set the voltage too high.\\+Next, select the **Cell count**, values from **8S**  to **28S**, in increments of **1S**. After that, in the **Apply setup**  item, select **Yes**. After saving the settings, you will see a window with new battery parameters. It is important to remember that we guarantee the operation of controllers with voltages up to 90V. The device is technically rated for 95V, but operating above 90V will void the warranty and you will be warned about this in a pop-up window. For example, if you try to select 22S for a lithium-ion battery. If the settings exceed 95V, the controller will also warn you that you are trying to set the voltage too high.
  
-**#Limits:** section\\ +**#Limits:**  section \\ **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**.
-**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**.+
  
 **Supply max**  and **Supply min**  — battery voltage range, in volts (**V**). Select values from **20.00V**  to **95.00V**, in increments of **0.1V**. Also, these settings are used for the **Converter**  mode. **Supply max**  and **Supply min**  — battery voltage range, in volts (**V**). Select values from **20.00V**  to **95.00V**, in increments of **0.1V**. Also, these settings are used for the **Converter**  mode.
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 **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**. **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**.
  
-**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**  to **120°C**, in increments of **5°C**. \\+**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**  to **120°C**, in increments of **5°C**.
  
-**MPPT** — enables and disables the maximum power point tracking feature when charging the battery through the controller from a solar panel. \\+**MPPT**  — enables and disables the maximum power point tracking feature when charging the battery through the controller from a solar panel.
  
-Below in the menu section, through the **#**  sign, the real-time values of voltages, currents and power are shown: \\  +Below in the menu section, through the **#**  sign, the real-time values of voltages, currents and power are shown: \\ **# Battery I** \\ **# Battery U** \\ **# Charging power** \\ **# Supply I** \\ **# Supply U**
-**# Battery I** \\  +
-**# Battery U** \\ +
-**# Charging power** \\ +
-**# Supply I** \\  +
-**# Supply U**+
  
 After plugging in the power supply, the On-board Computer will display the battery charging process. After plugging in the power supply, the On-board Computer will display the battery charging process.
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 In the **Controller**  > **I/O configuration**  menu section, you can configure the port's functions. The controller has thirteen digital ports that can be configured for different functions — **I1**-**I4**, **IO5**, **IO6**, **I7**-**I13**. See section **[[:en:controller:setup#connection_diagram|Connection diagram]]**. In the **Controller**  > **I/O configuration**  menu section, you can configure the port's functions. The controller has thirteen digital ports that can be configured for different functions — **I1**-**I4**, **IO5**, **IO6**, **I7**-**I13**. See section **[[:en:controller:setup#connection_diagram|Connection diagram]]**.
  
-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**  - **IO8**  available in the On-board computer plus four Hotkeys (buttons on the On-board computer). In the future, six CAN ports **I1** - **I6**  will be added to the uLight board. +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**  - **IO8**  available in the On-board computer plus four Hotkeys (buttons on the On-board computer). In the future, six CAN ports **I1**  - **I6**  will be added to the uLight board.
- +
-{{:en:controller:port_01062023.png?nolink& |}}+
  
 +{{:en:controller:port_01062023.png?nolink&  }}
  
 In the section **Controller**  > **I/O configuration**  > **Port state**, you can check input activation when contact shorted to GND. When a signal is applied, the value will change from **Off**  to **On**. Below in the menu items **# Throttle**  and **# Brake**  you can see the voltage on the throttle and brake levers, respectively. In the section **Controller**  > **I/O configuration**  > **Port state**, you can check input activation when contact shorted to GND. When a signal is applied, the value will change from **Off**  to **On**. Below in the menu items **# Throttle**  and **# Brake**  you can see the voltage on the throttle and brake levers, respectively.
  
-If the controls are connected to the On-board computer, then it is necessary to check the activation when contact shorted to GND in the **On-board computer**  > **Information**  [[:en:display:start#information|menu]]. \\+If the controls are connected to the On-board computer, then it is necessary to check the activation when contact shorted to GND in the **On-board computer**  > **Information**  [[:en:display:start#information|menu]].
  
-**# PAS An** — shows an analog PAS sensor voltage, in volts (V). \\ +**# PAS An**  — shows an analog PAS sensor voltage, in volts (V). 
-~~CL~~ \\+ 
 +~~CL~~
  
 In the item ** Controller **> **I/O configuration**  > **Speeds mode**  you can select the method for switching additional modes **S1**, **S2**, **S3**  for inputs in the Controller or CAN inputs - **Switch**  or **Buttons**. In the item ** Controller **> **I/O configuration**  > **Speeds mode**  you can select the method for switching additional modes **S1**, **S2**, **S3**  for inputs in the Controller or CAN inputs - **Switch**  or **Buttons**.
  
-{{:en:controller:io_010623.png?nolink& |}}+{{:en:controller:io_010623.png?nolink&  }}
  
-Available functions for the Controller ports **I1**, **I2**, **I3**, **I4**, **IO5**, **IO6**, **I7**, **I8**-**I13** and CAN ports **CAN port 1** - **CAN port 16**: \\  +Available functions for the Controller ports **I1**, **I2**, **I3**, **I4**, **IO5**, **IO6**, **I7**, **I8**-**I13**  and CAN ports **CAN port 1**  - **CAN port 16**: \\ **OFF**  — disable port. \\ **Spec.**  — special port function (like PWM or PAS). \\ **RV**  — reverse. \\ **CRe**  — enable cruise. \\ **CR+**  — increment cruise speed (when the cruise is active). \\ **CR-**  — decrement cruise speed (when the cruise is active). \\ **CRr**  — restore the last saved cruise speed with the button, activated only above min cruise speed. \\ **BK**  — brake button. \\ **DM**  — disable motor (disable throttle, brake, and PAS). \\ **DTH**  — disable throttle. \\ **DPAS**  — disable PAS. \\ **P+**  — PAS power level increase. \\ **P-**  — PAS power level decrease. \\ **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 is activated by default, you need to change speed mode again to exit neutral. \\ **ENTH**  — enable throttle. \\ **nBK**  — inverted brake button input, activates the brake when the contact is opened. \\ **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. \\ **CL1**-**CL5**  — instant configuration import by pressing the CAN button (up to five different configurations). For correct import, the function number must match the number in the name of your configuration file. For example, a **CL3**  function would correspond to a file called **ncconf3.cfg**.
-**OFF**  — disable port. \\  +
-**Spec.**  — special port function (like PWM or PAS). \\  +
-**RV**  — reverse. \\  +
-**CRe**  — enable cruise. \\  +
-**CR+**  — increment cruise speed (when the cruise is active). \\  +
-**CR-**  — decrement cruise speed (when the cruise is active). \\  +
-**CRr**  — restore the last saved cruise speed with the button, activated only above min cruise speed. \\  +
-**BK**  — brake button. \\  +
-**DM**  — disable motor (disable throttle, brake, and PAS). \\  +
-**DTH**  — disable throttle. \\  +
-**DPAS**  — disable PAS. \\  +
-**P+** — PAS power level increase. \\ +
-**P-** — PAS power level decrease. \\ +
-**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 is activated by default, you need to change speed mode again to exit neutral. \\  +
-**ENTH** — enable throttle. \\ +
-**nBK**  — inverted brake button input, activates the brake when the contact is opened. \\  +
-**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. \\  +
-**CL1**-**CL5**  — instant configuration import by pressing the CAN button (up to five different configurations). For correct import, the function number must match the number in the name of your configuration file. For example, a **CL3**  function would correspond to a file called **ncconf3.cfg**.+
  
 Further in the menu, there are items for configuring the PWM outputs. Further in the menu, there are items for configuring the PWM outputs.
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   * **t°C motor**  — activated beyond the two deltas of the motor temperature, as the motor heats up will increase the PWM duty ( Delta °t set up on menu **Controller**  > **Motor setup**  > **Motor t°-sensor**).   * **t°C motor**  — activated beyond the two deltas of the motor temperature, as the motor heats up will increase the PWM duty ( Delta °t set up on menu **Controller**  > **Motor setup**  > **Motor t°-sensor**).
   * **t°C controller**  — activated from 40°С, maximum value at 80°С temperature of the Controller.   * **t°C controller**  — activated from 40°С, maximum value at 80°С temperature of the Controller.
-**PWM IOn Min**  / **Max**  — indicates the output range of the PWM (duty), select of values from **0%**  to **100%**, in increments **1%**. \\  +**PWM IOn Min**  / **Max**  — indicates the output range of the PWM (duty), select of values from **0%**  to **100%**, in increments **1%**. \\ **PWM IOn t° Min**  / **t° Max**  — selection of motor or controller temperature, select of values from **0°С**  to **100°С**, in increments **1°С**.
-**PWM IOn t° Min**  / **t° Max**  — selection of motor or controller temperature, select of values from **0°С**  to **100°С**, in increments **1°С**.+
  
 ===== Extra parameters ===== ===== Extra parameters =====
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 {{:en:controller:k26_en.png?nolink&  }} {{:en:controller:k26_en.png?nolink&  }}
  
-**Speed calculation**  — enabling speed calculation in the Controller. Useful for multi-motor configurations, you can turn off the speed calculation on some motors. Select of values **On**  and **Off**. +**Speed calculation**  — enabling speed calculation in the Controller. Useful for multi-motor configurations, you can turn off the speed calculation on some motors. Select of values **On**  and **Off**. \\ 
- +**Circumference**  — wheel circumference, in millimeters (mm). Select of values from **0mm**  to **3000mm**, in increments of **5mm**. To calculate the circumference, you can use [[https://www.omnicalculator.com/math/circumference|online calculator]]. \\ 
-**Circumference**  — wheel circumference, in millimeters (mm). Select of values from **0mm**  to **3000mm**, in increments of **5mm**. To calculate the circumference, you can use [[https://www.omnicalculator.com/math/circumference|online calculator]]. +**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. \\ 
- +**Wheel sprocket**  — the number of teeth of the wheel sprocket, similar to the setting **Motor sprocket**. \\
-**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. +
- +
-**Wheel sprocket**  — the number of teeth of the wheel sprocket, similar to the setting **Motor sprocket**.+
  
 If you have a wheel motor, then in the section **Controller**  > **Motor setup**  you need to specify the number of **Pole pair**  (divide the number of magnets by two). For gear motors or mid-drives, it is recommended to install an external speed sensor that connects to the Onboard computer or to any of the controller ports. If you have a wheel motor, then in the section **Controller**  > **Motor setup**  you need to specify the number of **Pole pair**  (divide the number of magnets by two). For gear motors or mid-drives, it is recommended to install an external speed sensor that connects to the Onboard computer or to any of the controller ports.
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 For example, you have a 2WD scooter and two 12F controllers, you need to distinguish them somehow in the **Devices**  menu for easy setup. A controller for a front motor can be prefixed with **Front**, in which case the controller will be named **Front Nucular controller**  in the **Devices**  menu. For example, you have a 2WD scooter and two 12F controllers, you need to distinguish them somehow in the **Devices**  menu for easy setup. A controller for a front motor can be prefixed with **Front**, in which case the controller will be named **Front Nucular controller**  in the **Devices**  menu.
  
-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 will look like this: **Prefix 1**  — **Rear**, **Prefix 2**  — **Right**. +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 will look like this: **Prefix 1**  — **Rear**, **Prefix 2**  — **Right**.
  
 ==== Access level ==== ==== Access level ====
  
-Four levels are available:\\ +Four levels are available: \\ **Novice** \\ **User** \\ **Advanced** \\ **Engineer**
-**Novice**\\ +
-**User**\\ +
-**Advanced**\\ +
-**Engineer**\\ +
- +
-Depending on the selected access level, some menu items will be hidden to make it easier to configure the controller. For example, at the **Novice** level, a minimum basic set of settings will be displayed. At the Engineer level, all possible settings will be available. You can choose your level yourself.\\+
  
-**Important note**: now after updating the firmware to v0.8.13, the default level will be set to **Novice**. Remember this when you don’t find the usual menu items in the controller settings.\\+Depending on the selected access level, some menu items will be hidden to make it easier to configure the controller. For example, at the **Novice**  level, a minimum basic set of settings will be displayed. At the Engineer level, all possible settings will be available. You can choose your level yourself.
  
 +**Important note**: now after updating the firmware to v0.8.13, the default level will be set to **Novice**. Remember this when you don’t find the usual menu items in the controller settings.
  
 ===== PID regulators ===== ===== PID regulators =====
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 The **Controller**  > **Status Flags**  menu section displays errors that may occur during the operation of the Controller. If an error occurs, the parameter value changes to **On**. The **Controller**  > **Status Flags**  menu section displays errors that may occur during the operation of the Controller. If an error occurs, the parameter value changes to **On**.
  
-{{:en:controller:status_en_0504.png?nolink& |}}+{{:en:controller:status_en_0504.png?nolink&  }}
  
-**Reset?**  — reset all statuses. Values **On**  and **Off**. \\ +**Reset?**  — reset all statuses. Values **On**  and **Off**. \\ **Max acceleration**  — maximum acceleration, in ERPM/s. \\ **Min deceleration**  — maximum deceleration, in ERPM/s. \\ **Overload current**  — the last recorded current on the phases, in Amperes. \\ **Overload**  — exceeding the permissible current values. Values **On**  and **Off**. \\ **High V ripple**  — overcurrent on the P24F controller (plate) which is monitored via voltage ripple. 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 model. Values **On**  and **Off**. \\ **Supply undervoltage**  — too low supply voltage, less than the minimum battery supply threshold. Values **On**  and **Off**. \\ **12V protection**  — error on the 12V power line. Values **On**  and **Off**. \\ **Control fail**  — the controller was not able to smoothly turn off the electric motor in time when throttle released. May happen with certain motors when field weakening used, decrease FW current. Values **On**  and **Off**. \\ **12V protection**  — breaking down or error on the 12V power line. Values **On**  and **Off**. \\ **Brake error**  — brake lever connection error. Values **On**  and **Off**. \\ **Throttle error**  — throttle lever connection error. Values **On**  and **Off**. \\ **Throttle lock**  — indicates that the throttle lever is disabled. Values **On**  and **Off**. \\ **Position sensor error**  — motor position sensor connection error. Values **On**  and **Off**. \\ **Square index error**  — signal error from sensors when trapezoidal control. Values **On**  and **Off**. \\ **Thread error**  — processor overload. Values **On**  and **Off**. The error is not critical, let us know if it 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**. \\ **ADC sample error**  — software error of the analog-to-digital converter (ADC). Values **On**  and **Off**. \\ **VBUS sample error**  — supply voltage measurement error. Values **On**  and **Off**. \\ **Voltage on phases**  — overvoltage on phases. Values **On**  and **Off**. \\ **LEC**  — types of errors on the CAN bus. If everything is alright you will see the value **Ok**. In case of errors, there will be values - **Stuff**, **Form**, **Acknowledgment**, **Bit recessive**, **Bit dominant**, **CRC**, **SW**. Tell us the code if this error occurs. \\ **Receive w/error**  — CAN-bus errors on receiving. \\ **Sent w/error**  — CAN-bus errors on transmitting. \\ **CAN state**  — overloading buffers. If everything is alright you will see the value **Ok**. In case of errors, there will be values - **OVR0**, **OVR1**, **OVR01**. Tell us the code if this error occurs. \\ **CAN RX**  — the number of messages in the CAN bus to receive. \\ **CAN TX**  — the number of messages in the CAN bus to transmission. \\ **CPU Load**  — current load of the central processor, in percentage (**%**).
- **Max acceleration**  — maximum acceleration, in ERPM/s. \\ +
- **Min deceleration**  — maximum deceleration, in ERPM/s. \\ +
- **Overload current**  — the last recorded current on the phases, in Amperes. \\ +
- **Overload**  — exceeding the permissible current values. Values **On**  and **Off**. \\ +
- **High V ripple** — overcurrent on the P24F controller (plate) which is monitored via voltage ripple. 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 model. Values **On**  and **Off**. \\ +
- **Supply undervoltage**  — too low supply voltage, less than the minimum battery supply threshold. Values **On**  and **Off**. \\ +
- **12V protection**  — error on the 12V power line. Values **On**  and **Off**. \\ +
- **Control fail**  — the controller was not able to smoothly turn off the electric motor in time when the brake contacts were closed. Values **On**  and **Off**. **12V protection**  — breaking down or error on the 12V power line. Values **On**  and **Off**. \\ +
- **Brake error**  — brake lever connection error. Values **On**  and **Off**. \\ +
- **Throttle error**  — throttle lever connection error. Values **On**  and **Off**. \\ +
- **Throttle lock** — indicates that the throttle lever is disabled. Values **On**  and **Off**. \\ +
- **Position sensor error**  — motor position sensor connection error. Values **On**  and **Off**. \\ +
- **Square index error**  — signal error from sensors when trapezoidal control. Values **On**  and **Off**. \\ +
- **Thread error**  — processor overload. Values **On**  and **Off**. The error is not critical, let us know if it 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**. \\ +
- **ADC sample error**  — software error of the analog-to-digital converter (ADC). Values **On**  and **Off**. \\ +
- **VBUS sample error**  — supply voltage measurement error. Values **On**  and **Off**. \\ +
- **Voltage on phases**  — overvoltage on phases. Values **On**  and **Off**. \\ +
- **LEC**  — types of errors on the CAN bus. If everything is alright you will see the value **Ok**. In case of errors, there will be values - **Stuff**, **Form**, **Acknowledgment**, **Bit recessive**, **Bit dominant**, **CRC**, **SW**. Tell us the code if this error occurs. \\ +
- **Receive w/error**  — CAN-bus errors on receiving. \\ +
- **Sent w/error**  — CAN-bus errors on transmitting. \\ +
- **CAN state**  — overloading buffers. If everything is alright you will see the value **Ok**. In case of errors, there will be values - **OVR0**, **OVR1**, **OVR01**. Tell us the code if this error occurs. \\ +
- **CAN RX**  — the number of messages in the CAN bus to receive. \\ +
- **CAN TX**  — the number of messages in the CAN bus to transmission. \\ +
- **CPU Load**  — current load of the central processor, in percentage (**%**).+
  
 ===== Debug information ===== ===== Debug information =====
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 **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, you can delete unnecessary files from the card. After that, restart the Controller and start recording again. If the error repeats, contact us through the website or chat technical support and report the error code. **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, you can delete unnecessary files from the card. After that, restart the Controller and start recording again. If the error repeats, contact us through the website or chat technical support and report the error code.
  
-**Stop logging**  — stop recording, select **On**  to end recording. \\+**Stop logging**  — stop recording, select **On**  to end recording.
  
-**Continuous logging** — allows you to activate the continuous logging mode, including during stops. In firmware before v0.8.12 the log was written only during driving and electric motor operation. \\+**Continuous logging**  — allows you to activate the continuous logging mode, including during stops. In firmware before v0.8.12 the log was written only during driving and electric motor operation.
  
 ~~CL~~ ~~CL~~
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 {{:en:controller:device_info.png?nolink&  }} {{:en:controller:device_info.png?nolink&  }}
  
-**Nucular Controller**  — device name depending on the type of Controller. \\ **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). \\ **Encoder speed**  — 26kHz or 580kHz (new Controller version with orange phase wires). \\ **Firmware date**  — firmware compilation date. \\ **Firmware ver.**  — version of the installed firmware, you can check for updates in the section **[[:en:firmware|Firmware]]**. \\ **Loader date**  — the data loader compilation date. \\ **Loader version**  — data loader version. \\ **Production date**  — date of manufacture of the controller. \\ **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. \\ **Serial number**  — serial number of the Controller (for devices manufactured from 01 Jul 2022). Take a photo or write down this number and keep it separate from the Controller. You may need it when requesting repairs or if the Controller is stolen. After updating the firmware to 0.8.7, in some versions of controllers manufactured before 01 Jul 2022, a serial number may also appear. Check after update. +**Nucular Controller**  — device name depending on the type of Controller. \\ **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). \\ **Encoder speed**  — 26kHz or 580kHz (new Controller version with orange phase wires). \\ **Firmware date**  — firmware compilation date. \\ **Firmware ver.**  — version of the installed firmware, you can check for updates in the section **[[:en:firmware|Firmware]]**. \\ **Loader date**  — the data loader compilation date. \\ **Loader version**  — data loader version. \\ **Production date**  — date of manufacture of the controller. \\ **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. \\ **Serial number**  — serial number of the Controller (for devices manufactured from 01 Jul 2022). Take a photo or write down this number and keep it separate from the Controller. You may need it when requesting repairs or if the Controller is stolen. After updating the firmware to 0.8.7, in some versions of controllers manufactured before 01 Jul 2022, a serial number may also appear. Check after update. date. 
-date.+