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en:controller:setup [2023/10/05 15:19]
dmitry 		en:controller:setup [2025/03/19 09:36] (current)
dmitry [Connection diagram]
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 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. \\
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-Three 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.+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.
  
 **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%.
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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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 {{: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.