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OKP'S BUILD - 12S FOC

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okp
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OKP'S BUILD - 12S FOC

Hey there,

I've been riding this prototype board at speed for quite some time now and I'm now going to replace the V4 with the V6 to report back on the beta.
- 12S4AH 150C Flat pack
- Sensored 150kv motors
- 66T/15T

The trucks are MBS Matrix PRO 2 but I'm going also to replace them with Infinity but in a second step (takes time)

I will build a little box to put below the dual VESC so the wiring will be invisible just by adding 5mm. This will also enable to get some nice motor connector layout as they will be integrated in the box.

http://www.e-sk8.fr/wordpress/wp-content/uploads/2017/06/IMG_9036.jpg

http://www.e-sk8.fr/wordpress/wp-content/uploads/2017/06/IMG_9035.jpg

http://www.e-sk8.fr/wordpress/wp-content/uploads/2017/06/IMG_9034.jpg

I'm planning to run this on FOC.

frank
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Can't wait for some VESC 6 action. THX for sharing this one. Frank
okp
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yeah, I'm sure they'll fit my riding style ! Do you have any recommended settings for Batt settings / Motor settings ?

frank
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Well, I would slowly progress, starting with safe values and then find the spot where you have good performance without heating up your motors, cables, VESC to much. I don't know what your motors can handle, nor what battery you use.

12S: 50A towards the motor is about right to get started.

Battery max = Motor max (if the cells can handle that)

Battery min and Motor min: -25A to -30A (if the cells can handle that)

Remember: You have a dual drive, so you drain an push twice the values from/to the battery.

Frank

sl33py
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Look forward to seeing your results!!

I missed my package today w/ VESC Six. :( But hope to test/compare with v4.12's. I have an eagletree i've wanted to use inline to log some data with and hope to do it side by side with v6!

GL!

okp
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Thanks, just quickly drafted this - will print it tomorrow and report back.

http://image.noelshack.com/fichiers/2017/23/4/1496952844-capture-d-ecran...

hexakopter
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Looks good. But consider using some of the airflow that is available to cool the case/FETs. I have done a video that shows the differences of using airflow with the VESC 4.12 hardware. https://www.youtube.com/watch?v=UwVQQ_LY5bc
I think it is even more noticeable with the VESC 6 because of the better FETs cooling ability with the aluminum case. But maybe you are not draining that much motor current with the dual setup and it will stay cool anyways.

frank
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When running our Motors @ 50A, the casing does not even get hand warm. You need to test your setup to your ride style. I don't think heat is an issue at all. Frank
Pimousse
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okp, you should add shrink tube on the input power wires to avoid them be hurt by the sharp edges of the CNC case.

okp
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hey guys; just back from a 2 weeks kitesurfing trip in the desert. I'm going to setup the VESC in the next days on 12S FOC SENSORED and report back with some action ! I also need to check what happened here in the last week to avoid going into some possible pitfalls.

okp
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here we go, a quick move. Just need now to find a PPM cable to finish the build. It's only a prototype deck but this is what I use for all my rides to test. So I really don't care about "being beautiful" much more sometimes that I can support the project and report back on.

http://www.e-sk8.fr/wordpress/wp-content/uploads/2017/06/IMG_9127.jpg

okp
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PPM Wizard :
2. Set the PPM control type (and not mode)

It's straightforward to setup. Good job on the user experience sides of things.

I got my Trampa MTB prototype ready to rock on 12S FOC Sensored.

Motor Max/Min : 50/-50
Batt Max : 50
Batt Min : -25

Pretty Impressive on the floor. I will post riding videos on and on. I wish I had something to provide you with realtime / dump information of the rides.

frank
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That is a fun machine! 50A is quite impressive on a dual 12S.
okp
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Yeah. Just did a quick ride.

https://www.instagram.com/p/BVuklm0hD6y/

Perform flawlessly in 12S FOC Sensored. Impressed. Climbing is also flawless; whatever the grade; you get to the top. I used the default curve but I'm more used to the original "non linear" curve so I will adjust it.

I will be posting a raw video in the next hours so you can see the ride and get some footage.

Riako
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hey, good to read okp ! So your in Natural mode in ppm ? Im in Polynomial (not volontary..), after 14km ride, I think its the control your talking about, and me looking to change for Natural ;)

Good ride !

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In fact, I was not in "natural", I was by default in Polynomial. Don't know if it's me but the curve display does not change when I change the mode. Is this normal? I think Polynomial was actually quite OK, maybe I should try exponential but not sure I'll like it. I want all the control on a small amount of trigger.

I'm using these pack so I can destroy them : https://hobbyking.com/en_us/turnigy-5000mah-6s-40c-lipo-pack.html?___sto...

A video worth thousands words, here's my configuration. Frank, anything I should tune/increase or try for ya?

https://youtu.be/8KgFb1z4S9E

and this is the RAW video for the ride without any music.

https://youtu.be/uumy8TfTfAw

benjamin
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Nice build and videos!

The throttle curve will not change when the amount of expo is 0%, because then all modes are completely linear. You have to increase or decrease the percentage and then the different modes will give different curve shapes. You probably want a negative expo value which means that the throttle will be softer close to 0 and increase faster towards full throttle.

Another thing you might want to experiment with is the ramping times. By default they are quite soft. If you want a more aggressive throttle you can decrease the time constants.

okp
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that's great ! thanks Benjamin. Will try and report back. Awesome work.

okp
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Hey, a quick one. Can I go with 12S - 245kv in FOC without any RPM DRV issues ?

benjamin
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That should be no problem.
okp
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thanks bro.

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riding and riding; here a quick edit. V6 performs flawlessly. That's insane on 12S FOC. Dedicated to Ted, Frank and Benjamin.

https://www.instagram.com/p/BWSV8Txh5xG/?taken-by=esk8fr

benjamin
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Thanks for the feedback, I'm glad to hear that it works well. Are you using the 245 kv motors now?

okp
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Hey bro, I wish I could provide a detailed log of my riding sessions. If this is possible keep me posted so I can help you more with data.

Yesterday, I met Katsumi Sakakura and I thought it was great to bring this build with the dual VESC6 to Eternity. Props to Ted, Frank and yourself.

https://www.instagram.com/p/BWUN4IuhdCP/

 

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Can I do something to help you? I mean; I ride a lot and I just can say than on 12S FOC they are perfect. 

okp
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I'm starting to reach 500km with this setup. I noticed that the deadband was 15% which was too soft for me. I moved to 5%. Let's see if this is better. Is there a way to make this even more beast in FOC ? in BLDC I was modifying the boost to 0.060 on my previous builds; but with FOC; how is this possible?

hexakopter
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Have not read a lot on this forum lately, but for me it was an important info that the ADC app of the VESC tool has a new ramping parameter added that I lowered. Don't know what controller you are using and if you already lowered the ramping.