One motor runs fine, other one doesn't

Hi, all.

I've been planning to make an R/C lawn mower for a long time and finally purchased two 10" brushless scooter hub motors and Flipsky Mini FSESC 4.20 speed controllers.

The idea is to use two independent drives in a v-tail configuration together wit a free rotating front wheel. Pretty basic stuff with normal r/c gear.

Now the tricky part. I set the ESCs and motors up in a rig where I can rotate them freely while adjusting parameters. Tuning phase is carried out with a 3 cell 2,2Ah LiPo-battery, controlled via usb-port.

First setup worked nice, only had to tweak FOC parameters a little to get the motor spinning. Runs nice by keyboard command.

The second motor was treated in absolutely same manner. ID run found out the resistance, lambda and hall sensors. I wrote the parameters to ESC and tried controlling the motor by keyboard with no luck! Just some rattle with no movement whatsoever. I compared those two configurations and found out that there are some differences in them.

Below are the differences. Left column is for the working setup and right column failed. I got the failing motor to run while doing the ID run.

Last line is obvious, because I need left and right side motors. I subsequently loaded the parameters from motor 1 (below) to the other one to see if it would run with those parameters. No luck.

<?xml version="1.0" encoding="UTF-8"?>
<MCConfiguration>
    <pwm_mode>1</pwm_mode>
    <comm_mode>0</comm_mode>
    <motor_type>2</motor_type>
    <sensor_mode>0</sensor_mode>
    <l_current_max>10</l_current_max>
    <l_current_min>-10</l_current_min>
    <l_in_current_max>40</l_in_current_max>
    <l_in_current_min>-10</l_in_current_min>
    <l_abs_current_max>15</l_abs_current_max>
    <l_min_erpm>-1000</l_min_erpm>
    <l_max_erpm>1000</l_max_erpm>
    <l_erpm_start>0.5</l_erpm_start>
    <l_max_erpm_fbrake>300</l_max_erpm_fbrake>
    <l_max_erpm_fbrake_cc>1500</l_max_erpm_fbrake_cc>
    <l_min_vin>8</l_min_vin>
    <l_max_vin>57</l_max_vin>
    <l_battery_cut_start>11</l_battery_cut_start>
    <l_battery_cut_end>10.5</l_battery_cut_end>
    <l_slow_abs_current>1</l_slow_abs_current>
    <l_temp_fet_start>75</l_temp_fet_start>
    <l_temp_fet_end>90</l_temp_fet_end>
    <l_temp_motor_start>85</l_temp_motor_start>
    <l_temp_motor_end>100</l_temp_motor_end>
    <l_temp_accel_dec>0.15</l_temp_accel_dec>
    <l_min_duty>0.005</l_min_duty>
    <l_max_duty>0.95</l_max_duty>
    <l_watt_max>350</l_watt_max>
    <l_watt_min>-350</l_watt_min>
    <l_current_max_scale>1</l_current_max_scale>
    <l_current_min_scale>1</l_current_min_scale>
    <l_duty_start>1</l_duty_start>
    <sl_min_erpm>150</sl_min_erpm>
    <sl_min_erpm_cycle_int_limit>1100</sl_min_erpm_cycle_int_limit>
    <sl_max_fullbreak_current_dir_change>10</sl_max_fullbreak_current_dir_change>
    <sl_cycle_int_limit>62</sl_cycle_int_limit>
    <sl_phase_advance_at_br>0.8</sl_phase_advance_at_br>
    <sl_cycle_int_rpm_br>80000</sl_cycle_int_rpm_br>
    <sl_bemf_coupling_k>600</sl_bemf_coupling_k>
    <hall_table__0>-1</hall_table__0>
    <hall_table__1>1</hall_table__1>
    <hall_table__2>3</hall_table__2>
    <hall_table__3>2</hall_table__3>
    <hall_table__4>5</hall_table__4>
    <hall_table__5>6</hall_table__5>
    <hall_table__6>4</hall_table__6>
    <hall_table__7>-1</hall_table__7>
    <hall_sl_erpm>2000</hall_sl_erpm>
    <foc_current_kp>0.171</foc_current_kp>
    <foc_current_ki>98.13</foc_current_ki>
    <foc_f_sw>25000</foc_f_sw>
    <foc_dt_us>0.12</foc_dt_us>
    <foc_encoder_inverted>0</foc_encoder_inverted>
    <foc_encoder_offset>180</foc_encoder_offset>
    <foc_encoder_ratio>7</foc_encoder_ratio>
    <foc_encoder_sin_gain>1</foc_encoder_sin_gain>
    <foc_encoder_cos_gain>1</foc_encoder_cos_gain>
    <foc_encoder_sin_offset>1.65</foc_encoder_sin_offset>
    <foc_encoder_cos_offset>1.65</foc_encoder_cos_offset>
    <foc_encoder_sincos_filter_constant>0.5</foc_encoder_sincos_filter_constant>
    <foc_sensor_mode>2</foc_sensor_mode>
    <foc_pll_kp>2000</foc_pll_kp>
    <foc_pll_ki>30000</foc_pll_ki>
    <foc_motor_l>0.00017103</foc_motor_l>
    <foc_motor_ld_lq_diff>0</foc_motor_ld_lq_diff>
    <foc_motor_r>0.09813</foc_motor_r>
    <foc_motor_flux_linkage>0.020348</foc_motor_flux_linkage>
    <foc_observer_gain>2.42e+06</foc_observer_gain>
    <foc_observer_gain_slow>0.05</foc_observer_gain_slow>
    <foc_duty_dowmramp_kp>10</foc_duty_dowmramp_kp>
    <foc_duty_dowmramp_ki>200</foc_duty_dowmramp_ki>
    <foc_openloop_rpm>700</foc_openloop_rpm>
    <foc_openloop_rpm_low>0</foc_openloop_rpm_low>
    <foc_d_gain_scale_start>0.9</foc_d_gain_scale_start>
    <foc_d_gain_scale_max_mod>0.2</foc_d_gain_scale_max_mod>
    <foc_sl_openloop_hyst>0.1</foc_sl_openloop_hyst>
    <foc_sl_openloop_time_lock>0</foc_sl_openloop_time_lock>
    <foc_sl_openloop_time_ramp>0.1</foc_sl_openloop_time_ramp>
    <foc_sl_openloop_time>0.05</foc_sl_openloop_time>
    <foc_hall_table__0>255</foc_hall_table__0>
    <foc_hall_table__1>199</foc_hall_table__1>
    <foc_hall_table__2>66</foc_hall_table__2>
    <foc_hall_table__3>33</foc_hall_table__3>
    <foc_hall_table__4>133</foc_hall_table__4>
    <foc_hall_table__5>166</foc_hall_table__5>
    <foc_hall_table__6>99</foc_hall_table__6>
    <foc_hall_table__7>255</foc_hall_table__7>
    <foc_hall_interp_erpm>500</foc_hall_interp_erpm>
    <foc_sl_erpm>4000</foc_sl_erpm>
    <foc_sample_v0_v7>0</foc_sample_v0_v7>
    <foc_sample_high_current>0</foc_sample_high_current>
    <foc_sat_comp>0</foc_sat_comp>
    <foc_temp_comp>0</foc_temp_comp>
    <foc_temp_comp_base_temp>25</foc_temp_comp_base_temp>
    <foc_current_filter_const>0.1</foc_current_filter_const>
    <foc_cc_decoupling>2</foc_cc_decoupling>
    <foc_observer_type>0</foc_observer_type>
    <foc_hfi_voltage_start>20</foc_hfi_voltage_start>
    <foc_hfi_voltage_run>4</foc_hfi_voltage_run>
    <foc_hfi_voltage_max>10</foc_hfi_voltage_max>
    <foc_sl_erpm_hfi>2000</foc_sl_erpm_hfi>
    <foc_hfi_start_samples>65</foc_hfi_start_samples>
    <foc_hfi_obs_ovr_sec>0.001</foc_hfi_obs_ovr_sec>
    <foc_hfi_samples>1</foc_hfi_samples>
    <gpd_buffer_notify_left>200</gpd_buffer_notify_left>
    <gpd_buffer_interpol>0</gpd_buffer_interpol>
    <gpd_current_filter_const>0.1</gpd_current_filter_const>
    <gpd_current_kp>0.03</gpd_current_kp>
    <gpd_current_ki>50</gpd_current_ki>
    <s_pid_kp>0.004</s_pid_kp>
    <s_pid_ki>0.004</s_pid_ki>
    <s_pid_kd>0.0001</s_pid_kd>
    <s_pid_kd_filter>0.2</s_pid_kd_filter>
    <s_pid_min_erpm>900</s_pid_min_erpm>
    <s_pid_allow_braking>1</s_pid_allow_braking>
    <s_pid_ramp_erpms_s>-1</s_pid_ramp_erpms_s>
    <p_pid_kp>0.03</p_pid_kp>
    <p_pid_ki>0</p_pid_ki>
    <p_pid_kd>0.0004</p_pid_kd>
    <p_pid_kd_filter>0.2</p_pid_kd_filter>
    <p_pid_ang_div>1</p_pid_ang_div>
    <cc_startup_boost_duty>0.01</cc_startup_boost_duty>
    <cc_min_current>0.05</cc_min_current>
    <cc_gain>0.0046</cc_gain>
    <cc_ramp_step_max>0.04</cc_ramp_step_max>
    <m_fault_stop_time_ms>500</m_fault_stop_time_ms>
    <m_duty_ramp_step>0.02</m_duty_ramp_step>
    <m_current_backoff_gain>0.5</m_current_backoff_gain>
    <m_encoder_counts>8192</m_encoder_counts>
    <m_sensor_port_mode>0</m_sensor_port_mode>
    <m_invert_direction>0</m_invert_direction>
    <m_drv8301_oc_mode>0</m_drv8301_oc_mode>
    <m_drv8301_oc_adj>16</m_drv8301_oc_adj>
    <m_bldc_f_sw_min>3000</m_bldc_f_sw_min>
    <m_bldc_f_sw_max>35000</m_bldc_f_sw_max>
    <m_dc_f_sw>25000</m_dc_f_sw>
    <m_ntc_motor_beta>3380</m_ntc_motor_beta>
    <m_out_aux_mode>0</m_out_aux_mode>
    <m_motor_temp_sens_type>1</m_motor_temp_sens_type>
    <m_ptc_motor_coeff>0.61</m_ptc_motor_coeff>
    <m_hall_extra_samples>1</m_hall_extra_samples>
    <si_motor_poles>14</si_motor_poles>
    <si_gear_ratio>1</si_gear_ratio>
    <si_wheel_diameter>0.25</si_wheel_diameter>
    <si_battery_type>0</si_battery_type>
    <si_battery_cells>3</si_battery_cells>
    <si_battery_ah>2.2</si_battery_ah>
    <motor_brand>BangGood</motor_brand>
    <motor_model>FH36V30H210508524</motor_model>
    <motor_weight>3054</motor_weight>
    <motor_poles>14</motor_poles>
    <motor_sensor_type>1</motor_sensor_type>
    <motor_description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;https://www.banggood.com/350W-9_8-Inch-Scooter-Motor-Explosion-Proof-Brushless-Hub-Motor-Wheels-Tire-Ideal-Replacement-for-M365-Electric-Scooter-p-1737973.html?utm_design=18&amp;amp;utm_email=1623859212_2324&amp;amp;utm_source=emarsys&amp;amp;utm_medium=Shipoutinform190813&amp;amp;utm_campaign=trigger-logistics&amp;amp;utm_content=leander&amp;amp;sc_src=email_2671705&amp;amp;sc_eh=aebfe5b02aea5b6a1&amp;amp;sc_llid=30108438&amp;amp;sc_lid=104858042&amp;amp;sc_uid=MJ3QPxij5i&amp;amp;cur_warehouse=CN&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif'; font-weight:600; text-decoration: underline; color:#0000ff;&quot;&gt;https://www.banggood.com/350W-9_8-Inch-Scooter-Motor-Explosion-Proof-Brushless-Hub-Motor-Wheels-Tire-Ideal-Replacement-for-M365-Electric-Scooter-p-1737973.html?utm_design=18&amp;amp;utm_email=1623859212_2324&amp;amp;utm_source=emarsys&amp;amp;utm_medium=Shipoutinform190813&amp;amp;utm_campaign=trigger-logistics&amp;amp;utm_content=leander&amp;amp;sc_src=email_2671705&amp;amp;sc_eh=aebfe5b02aea5b6a1&amp;amp;sc_llid=30108438&amp;amp;sc_lid=104858042&amp;amp;sc_uid=MJ3QPxij5i&amp;amp;cur_warehouse=CN&lt;/span&gt;&lt;/a&gt; &lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif'; font-weight:600;&quot;&gt;Specification:&lt;/span&gt; &lt;/p&gt;
&lt;table border=&quot;0&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px;&quot; width=&quot;0&quot; cellspacing=&quot;0&quot; cellpadding=&quot;0&quot;&gt;
&lt;tr&gt;
&lt;td width=&quot;295&quot; style=&quot; vertical-align:top; padding-left:0; padding-right:0; padding-top:0; padding-bottom:0;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;Material&lt;/span&gt; &lt;/p&gt;&lt;/td&gt;
&lt;td width=&quot;295&quot; style=&quot; vertical-align:top; padding-left:0; padding-right:0; padding-top:0; padding-bottom:0;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;Aluminum Alloy + Rubber&lt;/span&gt; &lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;
&lt;td style=&quot; vertical-align:top; padding-left:0; padding-right:0; padding-top:0; padding-bottom:0;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;Color&lt;/span&gt; &lt;/p&gt;&lt;/td&gt;
&lt;td style=&quot; vertical-align:top; padding-left:0; padding-right:0; padding-top:0; padding-bottom:0;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;Black&lt;/span&gt; &lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;
&lt;td style=&quot; vertical-align:top; padding-left:0; padding-right:0; padding-top:0; padding-bottom:0;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;Motor Power&lt;/span&gt; &lt;/p&gt;&lt;/td&gt;
&lt;td style=&quot; vertical-align:top; padding-left:0; padding-right:0; padding-top:0; padding-bottom:0;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;350W&lt;/span&gt; &lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;
&lt;td style=&quot; vertical-align:top; padding-left:0; padding-right:0; padding-top:0; padding-bottom:0;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;Outer Diameter&lt;/span&gt; &lt;/p&gt;&lt;/td&gt;
&lt;td style=&quot; vertical-align:top; padding-left:0; padding-right:0; padding-top:0; padding-bottom:0;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;25cm/9.8inch&lt;/span&gt; &lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;
&lt;td style=&quot; vertical-align:top; padding-left:0; padding-right:0; padding-top:0; padding-bottom:0;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;Package weight&lt;/span&gt; &lt;/p&gt;&lt;/td&gt;
&lt;td style=&quot; vertical-align:top; padding-left:0; padding-right:0; padding-top:0; padding-bottom:0;&quot;&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;Approx. 3054g/107.7oz&lt;/span&gt; &lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif'; font-weight:600;&quot;&gt;Features:&lt;/span&gt; &lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;- Ideal replacement for Xiaomi M365 electric scooter tire.&lt;/span&gt; &lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;- Explosion-proof tire, silent, honeycomb shock absorption.&lt;/span&gt; &lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;- Safety and environmental protection.&lt;/span&gt; &lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;- Anti-shock, highly elastic rubber material.&lt;/span&gt; &lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;- Anti-wear for long service life, &lt;/span&gt; &lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;- The performance of the motor is stable, strong and powerful.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif'; font-weight:600;&quot;&gt;Package included:&lt;/span&gt; &lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Times New Roman,serif';&quot;&gt;1 x Xiaomi Scooter Motor Wheels Tire&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</motor_description>
    <motor_loss_torque>0.03</motor_loss_torque>
    <motor_quality_bearings>0</motor_quality_bearings>
    <motor_quality_magnets>0</motor_quality_magnets>
    <motor_quality_construction>0</motor_quality_construction>
    <motor_quality_description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Some comments about the motor quality. Images can be added as well.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</motor_quality_description>
    <bms.type>1</bms.type>
    <bms.t_limit_start>45</bms.t_limit_start>
    <bms.t_limit_end>65</bms.t_limit_end>
    <bms.soc_limit_start>0.05</bms.soc_limit_start>
    <bms.soc_limit_end>0</bms.soc_limit_end>
</MCConfiguration>

Motors are from Banggood, like these:

https://www.banggood.com/350W-9_8-Inch-Scooter-Motor-Explosion-Proof-Bru...

Both ESCs straight out of the box, no changes to firmware. Hall sensor connections are soldered, motor leads are connected by srew terminals.

What should I try next? Maybe cross check the motors with different ESCs to see if the problem is motor or ESC related? I guess the warranty is void the same second as I cut the original motor connectors off.

I can run some tests and report the results if it helps.

Thanks for any help in advance!