Hello VESC forum!
I have yet to read the source code for how position control operates, but even if the position control itself doesn't work, I would settle for the ability to read the relative position change sensed by the hall motor. I was originally going to buy the velineon motor from Traxxas, but after reading about VESC, I am excited to try out the goodness of the hall-sensor enabled FOC mode on the VESC6+. Just a few specific asks about recommendations for my application, which is a slow driving (crawling to < 10 MPH) of 1/10 RC car (potentially heavily loaded but with stiffer spring and suspension). The first hit for "540 bldc hall motor" is the AMAINhobbies.com, and fancy looking motors (e.g. Trinity, Tekin) are prominently featured. Many of them have the "adjustible timing" feature: some angles are shown on. the outer casing but I don't actually know how it's supposed to change the timing given that VESC is going to calibrate that out anyway.
- They all seem to feature 6 connector setup. Should I assume they JUST connect 1-1 to the VESC6+ sensor port. I.e. are the hall sensor port pinout industry standard?
- Any specific motor recommendation for low-speed, high-torque application? Or should I just buy the highest turn motor for the price range and anything within the price point will do?
Thanks for reading, Would greatly appreciate any advice!
Sensor pinout should be checked.
The motor should spin in the range up to 100.000 ERPM max.
ERPM = RPM x pole pairs = KV x voltage x pole pairs
3S is the minimum Voltage for a VESC! Motors are not voltage rated, but run faster at higher voltages.
Timing adjustment is not needed. The VESC will only use halls at startup and then switch to Back EMF.
Thanks for the information on RPM = kV * V. Are you sure the VESC6+ won't handle 2S? Traxxas slash VESC6+ mods (such as the MIT racer) seem to run on 8.4V NiMH battery, which is 2S accroding to 1S ~ 4.3V
The default hall pinout on most hobby motors should match the VESC sensor port 1:1. Running the motor on 3s should be fine, even if you run at very low speed. The motor timing setting does not matter as FOC will run at optimal timing at all times. As you wrote, even if you adjust the timing on the motor that will be calibrated out by the VESC when you do sensor detection.
If you need to run at 2s, the minimum input voltage on the VESC6 can be adjusted down to 6V, which is quite close on 2S. It might generate undervoltage faults under heavy load when the battery is about to run out. Notice that on HW based on the VESC4 that uses the DRV8302, the minimum voltage is 8V, as the DRV8302 only goes that low.