Hello everyone,
i got myself a new VESC Classic 100V and used it with my Puma V2 from EBS (also known as GMac from Grin Technologies).
sadly my controller shuts itself down from time to time after pushing the RGB Button everything works like before and it doesnt show me an error code or something like that, can anyone help me troubleshoot my problem im quite new to this and would appreciate any help.
i will attach my current motor cfg and app cfg to this thread.
Thanks in advance!
Motor CFG:
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<MCConfiguration>
<ConfigVersion>4</ConfigVersion>
<pwm_mode>1</pwm_mode>
<comm_mode>0</comm_mode>
<motor_type>2</motor_type>
<sensor_mode>1</sensor_mode>
<l_current_max>70</l_current_max>
<l_current_min>0</l_current_min>
<l_in_current_max>25</l_in_current_max>
<l_in_current_min>0</l_in_current_min>
<l_in_current_map_start>0.9</l_in_current_map_start>
<l_in_current_map_filter>0.002</l_in_current_map_filter>
<l_abs_current_max>105</l_abs_current_max>
<l_min_erpm>-16100.7</l_min_erpm>
<l_max_erpm>16100.7</l_max_erpm>
<l_erpm_start>0.8</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>14</l_min_vin>
<l_max_vin>94</l_max_vin>
<l_battery_cut_start>47.6</l_battery_cut_start>
<l_battery_cut_end>42</l_battery_cut_end>
<l_battery_regen_cut_start>0</l_battery_regen_cut_start>
<l_battery_regen_cut_end>0</l_battery_regen_cut_end>
<l_slow_abs_current>0</l_slow_abs_current>
<l_temp_fet_start>85</l_temp_fet_start>
<l_temp_fet_end>100</l_temp_fet_end>
<l_temp_motor_start>120</l_temp_motor_start>
<l_temp_motor_end>140</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>0.9</l_max_duty>
<l_watt_max>1.5e+06</l_watt_max>
<l_watt_min>0</l_watt_min>
<l_current_max_scale>0.8</l_current_max_scale>
<l_current_min_scale>0</l_current_min_scale>
<l_duty_start>1</l_duty_start>
<l_additional_faults>0</l_additional_faults>
<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>0.151845</foc_current_kp>
<foc_current_ki>61.1945</foc_current_ki>
<foc_f_zv>30000</foc_f_zv>
<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_sensor_mode>2</foc_sensor_mode>
<foc_pll_kp>2000</foc_pll_kp>
<foc_pll_ki>30000</foc_pll_ki>
<foc_motor_l>0.000151845</foc_motor_l>
<foc_motor_ld_lq_diff>3.87443e-05</foc_motor_ld_lq_diff>
<foc_motor_r>0.0611945</foc_motor_r>
<foc_motor_flux_linkage>0.0103402</foc_motor_flux_linkage>
<foc_observer_gain>9.35286e+06</foc_observer_gain>
<foc_observer_gain_slow>0.05</foc_observer_gain_slow>
<foc_observer_offset>-1</foc_observer_offset>
<foc_duty_dowmramp_kp>20</foc_duty_dowmramp_kp>
<foc_duty_dowmramp_ki>400</foc_duty_dowmramp_ki>
<foc_start_curr_dec>1</foc_start_curr_dec>
<foc_start_curr_dec_rpm>2500</foc_start_curr_dec_rpm>
<foc_openloop_rpm>150</foc_openloop_rpm>
<foc_openloop_rpm_low>0</foc_openloop_rpm_low>
<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_sl_openloop_boost_q>0</foc_sl_openloop_boost_q>
<foc_sl_openloop_max_q>-1</foc_sl_openloop_max_q>
<foc_hall_table__0>255</foc_hall_table__0>
<foc_hall_table__1>81</foc_hall_table__1>
<foc_hall_table__2>149</foc_hall_table__2>
<foc_hall_table__3>115</foc_hall_table__3>
<foc_hall_table__4>14</foc_hall_table__4>
<foc_hall_table__5>49</foc_hall_table__5>
<foc_hall_table__6>180</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_start>1800</foc_sl_erpm_start>
<foc_sl_erpm>2000</foc_sl_erpm>
<foc_control_sample_mode>0</foc_control_sample_mode>
<foc_current_sample_mode>0</foc_current_sample_mode>
<foc_sat_comp_mode>0</foc_sat_comp_mode>
<foc_sat_comp>0</foc_sat_comp>
<foc_temp_comp>1</foc_temp_comp>
<foc_temp_comp_base_temp>25.74</foc_temp_comp_base_temp>
<foc_current_filter_const>0.1</foc_current_filter_const>
<foc_cc_decoupling>0</foc_cc_decoupling>
<foc_observer_type>3</foc_observer_type>
<foc_hfi_amb_mode>0</foc_hfi_amb_mode>
<foc_hfi_amb_current>60</foc_hfi_amb_current>
<foc_hfi_amb_tres>15</foc_hfi_amb_tres>
<foc_hfi_voltage_start>20</foc_hfi_voltage_start>
<foc_hfi_voltage_run>4</foc_hfi_voltage_run>
<foc_hfi_voltage_max>6</foc_hfi_voltage_max>
<foc_hfi_gain>0.3</foc_hfi_gain>
<foc_hfi_max_err>0.3</foc_hfi_max_err>
<foc_hfi_hyst>0</foc_hfi_hyst>
<foc_sl_erpm_hfi>3000</foc_sl_erpm_hfi>
<foc_hfi_reset_erpm>500</foc_hfi_reset_erpm>
<foc_hfi_start_samples>5</foc_hfi_start_samples>
<foc_hfi_obs_ovr_sec>0.001</foc_hfi_obs_ovr_sec>
<foc_hfi_samples>1</foc_hfi_samples>
<foc_offsets_cal_mode>1</foc_offsets_cal_mode>
<foc_offsets_current__0>2052.7</foc_offsets_current__0>
<foc_offsets_current__1>2051.81</foc_offsets_current__1>
<foc_offsets_current__2>2051.47</foc_offsets_current__2>
<foc_offsets_voltage__0>-0.0039</foc_offsets_voltage__0>
<foc_offsets_voltage__1>0.0003</foc_offsets_voltage__1>
<foc_offsets_voltage__2>0.0036</foc_offsets_voltage__2>
<foc_offsets_voltage_undriven__0>0</foc_offsets_voltage_undriven__0>
<foc_offsets_voltage_undriven__1>0</foc_offsets_voltage_undriven__1>
<foc_offsets_voltage_undriven__2>0</foc_offsets_voltage_undriven__2>
<foc_phase_filter_enable>1</foc_phase_filter_enable>
<foc_phase_filter_disable_fault>1</foc_phase_filter_disable_fault>
<foc_phase_filter_max_erpm>4000</foc_phase_filter_max_erpm>
<foc_mtpa_mode>0</foc_mtpa_mode>
<foc_fw_current_max>0</foc_fw_current_max>
<foc_fw_duty_start>0.8</foc_fw_duty_start>
<foc_fw_q_current_factor>0.05</foc_fw_q_current_factor>
<foc_fw_backoff>2</foc_fw_backoff>
<foc_fw_ramp_time>0</foc_fw_ramp_time>
<foc_speed_soure>0</foc_speed_soure>
<foc_short_ls_on_zero_duty>0</foc_short_ls_on_zero_duty>
<foc_overmod_factor>1</foc_overmod_factor>
<foc_mag_vd_max>0.98</foc_mag_vd_max>
<sp_pid_loop_rate>5</sp_pid_loop_rate>
<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>25000</s_pid_ramp_erpms_s>
<s_pid_speed_source>0</s_pid_speed_source>
<p_pid_kp>0.025</p_pid_kp>
<p_pid_ki>0</p_pid_ki>
<p_pid_kd>0</p_pid_kd>
<p_pid_offset>0</p_pid_offset>
<p_pid_kd_proc>0.00035</p_pid_kd_proc>
<p_pid_kd_filter>0.2</p_pid_kd_filter>
<p_pid_ang_div>1</p_pid_ang_div>
<p_pid_gain_dec_angle>0</p_pid_gain_dec_angle>
<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_encoder_sin_amp>1</m_encoder_sin_amp>
<m_encoder_cos_amp>1</m_encoder_cos_amp>
<m_encoder_sin_offset>1.65</m_encoder_sin_offset>
<m_encoder_cos_offset>1.65</m_encoder_cos_offset>
<m_encoder_sincos_filter_constant>0.5</m_encoder_sincos_filter_constant>
<m_encoder_sincos_phase_correction>0</m_encoder_sincos_phase_correction>
<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>4</m_out_aux_mode>
<m_motor_temp_sens_type>0</m_motor_temp_sens_type>
<m_ptc_motor_coeff>0.61</m_ptc_motor_coeff>
<m_ntcx_ptcx_res>22500</m_ntcx_ptcx_res>
<m_ntcx_ptcx_temp_base>25</m_ntcx_ptcx_temp_base>
<m_hall_extra_samples>3</m_hall_extra_samples>
<m_batt_filter_const>45</m_batt_filter_const>
<si_motor_poles>32</si_motor_poles>
<si_gear_ratio>5</si_gear_ratio>
<si_wheel_diameter>0.659</si_wheel_diameter>
<si_battery_type>0</si_battery_type>
<si_battery_cells>14</si_battery_cells>
<si_battery_ah>17.5</si_battery_ah>
<si_motor_nl_current>1</si_motor_nl_current>
<motor_brand/>
<motor_model/>
<motor_weight>0</motor_weight>
<motor_sensor_type>0</motor_sensor_type>
<motor_description/>
<motor_quality_bearings>0</motor_quality_bearings>
<motor_quality_magnets>0</motor_quality_magnets>
<motor_quality_construction>0</motor_quality_construction>
<motor_quality_description/>
<bms.type>1</bms.type>
<bms.limit_mode>3</bms.limit_mode>
<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>
<bms.vmin_limit_start>2.9</bms.vmin_limit_start>
<bms.vmin_limit_end>2.5</bms.vmin_limit_end>
<bms.vmax_limit_start>4.2</bms.vmax_limit_start>
<bms.vmax_limit_end>4.3</bms.vmax_limit_end>
<bms.fwd_can_mode>0</bms.fwd_can_mode>
</MCConfiguration>
___________________________________
APP CFG:
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<APPConfiguration>
<ConfigVersion>4</ConfigVersion>
<controller_id>103</controller_id>
<timeout_msec>1000</timeout_msec>
<timeout_brake_current>0</timeout_brake_current>
<can_status_rate_1>50</can_status_rate_1>
<can_status_rate_2>5</can_status_rate_2>
<can_status_msgs_r1>15</can_status_msgs_r1>
<can_status_msgs_r2>0</can_status_msgs_r2>
<can_baud_rate>2</can_baud_rate>
<pairing_done>0</pairing_done>
<permanent_uart_enabled>1</permanent_uart_enabled>
<shutdown_mode>2</shutdown_mode>
<can_mode>0</can_mode>
<uavcan_esc_index>0</uavcan_esc_index>
<uavcan_raw_mode>0</uavcan_raw_mode>
<uavcan_raw_rpm_max>50000</uavcan_raw_rpm_max>
<uavcan_status_current_mode>0</uavcan_status_current_mode>
<servo_out_enable>0</servo_out_enable>
<kill_sw_mode>0</kill_sw_mode>
<app_to_use>2</app_to_use>
<app_ppm_conf.ctrl_type>0</app_ppm_conf.ctrl_type>
<app_ppm_conf.pid_max_erpm>15000</app_ppm_conf.pid_max_erpm>
<app_ppm_conf.hyst>0.15</app_ppm_conf.hyst>
<app_ppm_conf.pulse_start>1</app_ppm_conf.pulse_start>
<app_ppm_conf.pulse_end>2</app_ppm_conf.pulse_end>
<app_ppm_conf.pulse_center>1.5</app_ppm_conf.pulse_center>
<app_ppm_conf.median_filter>1</app_ppm_conf.median_filter>
<app_ppm_conf.safe_start>1</app_ppm_conf.safe_start>
<app_ppm_conf.throttle_exp>0</app_ppm_conf.throttle_exp>
<app_ppm_conf.throttle_exp_brake>0</app_ppm_conf.throttle_exp_brake>
<app_ppm_conf.throttle_exp_mode>2</app_ppm_conf.throttle_exp_mode>
<app_ppm_conf.ramp_time_pos>0.4</app_ppm_conf.ramp_time_pos>
<app_ppm_conf.ramp_time_neg>0.2</app_ppm_conf.ramp_time_neg>
<app_ppm_conf.multi_esc>1</app_ppm_conf.multi_esc>
<app_ppm_conf.tc>0</app_ppm_conf.tc>
<app_ppm_conf.tc_max_diff>3000</app_ppm_conf.tc_max_diff>
<app_ppm_conf.max_erpm_for_dir>4000</app_ppm_conf.max_erpm_for_dir>
<app_ppm_conf.smart_rev_max_duty>0.07</app_ppm_conf.smart_rev_max_duty>
<app_ppm_conf.smart_rev_ramp_time>3</app_ppm_conf.smart_rev_ramp_time>
<app_adc_conf.ctrl_type>1</app_adc_conf.ctrl_type>
<app_adc_conf.hyst>0.05</app_adc_conf.hyst>
<app_adc_conf.voltage_start>0.44</app_adc_conf.voltage_start>
<app_adc_conf.voltage_end>2.09</app_adc_conf.voltage_end>
<app_adc_conf.voltage_min>0</app_adc_conf.voltage_min>
<app_adc_conf.voltage_max>3.5</app_adc_conf.voltage_max>
<app_adc_conf.voltage_center>1.26</app_adc_conf.voltage_center>
<app_adc_conf.voltage2_start>0</app_adc_conf.voltage2_start>
<app_adc_conf.voltage2_end>0</app_adc_conf.voltage2_end>
<app_adc_conf.use_filter>1</app_adc_conf.use_filter>
<app_adc_conf.safe_start>1</app_adc_conf.safe_start>
<app_adc_conf.buttons>0</app_adc_conf.buttons>
<app_adc_conf.voltage_inverted>0</app_adc_conf.voltage_inverted>
<app_adc_conf.voltage2_inverted>0</app_adc_conf.voltage2_inverted>
<app_adc_conf.throttle_exp>0</app_adc_conf.throttle_exp>
<app_adc_conf.throttle_exp_brake>0</app_adc_conf.throttle_exp_brake>
<app_adc_conf.throttle_exp_mode>2</app_adc_conf.throttle_exp_mode>
<app_adc_conf.ramp_time_pos>0.3</app_adc_conf.ramp_time_pos>
<app_adc_conf.ramp_time_neg>0.1</app_adc_conf.ramp_time_neg>
<app_adc_conf.multi_esc>1</app_adc_conf.multi_esc>
<app_adc_conf.tc>0</app_adc_conf.tc>
<app_adc_conf.tc_max_diff>3000</app_adc_conf.tc_max_diff>
<app_adc_conf.update_rate_hz>500</app_adc_conf.update_rate_hz>
<app_uart_baudrate>115200</app_uart_baudrate>
<app_chuk_conf.ctrl_type>0</app_chuk_conf.ctrl_type>
<app_chuk_conf.hyst>0.15</app_chuk_conf.hyst>
<app_chuk_conf.ramp_time_pos>0.4</app_chuk_conf.ramp_time_pos>
<app_chuk_conf.ramp_time_neg>0.2</app_chuk_conf.ramp_time_neg>
<app_chuk_conf.stick_erpm_per_s_in_cc>3000</app_chuk_conf.stick_erpm_per_s_in_cc>
<app_chuk_conf.throttle_exp>0</app_chuk_conf.throttle_exp>
<app_chuk_conf.throttle_exp_brake>0</app_chuk_conf.throttle_exp_brake>
<app_chuk_conf.throttle_exp_mode>2</app_chuk_conf.throttle_exp_mode>
<app_chuk_conf.multi_esc>1</app_chuk_conf.multi_esc>
<app_chuk_conf.tc>0</app_chuk_conf.tc>
<app_chuk_conf.tc_max_diff>3000</app_chuk_conf.tc_max_diff>
<app_chuk_conf.use_smart_rev>1</app_chuk_conf.use_smart_rev>
<app_chuk_conf.smart_rev_max_duty>0.07</app_chuk_conf.smart_rev_max_duty>
<app_chuk_conf.smart_rev_ramp_time>3</app_chuk_conf.smart_rev_ramp_time>
<app_chuk_conf.coast_brake_level>0</app_chuk_conf.coast_brake_level>
<app_chuk_conf.coast_brake_ramp_time>1</app_chuk_conf.coast_brake_ramp_time>
<app_nrf_conf.speed>1</app_nrf_conf.speed>
<app_nrf_conf.power>3</app_nrf_conf.power>
<app_nrf_conf.crc_type>1</app_nrf_conf.crc_type>
<app_nrf_conf.retry_delay>0</app_nrf_conf.retry_delay>
<app_nrf_conf.retries>3</app_nrf_conf.retries>
<app_nrf_conf.channel>76</app_nrf_conf.channel>
<app_nrf_conf.address__0>198</app_nrf_conf.address__0>
<app_nrf_conf.address__1>199</app_nrf_conf.address__1>
<app_nrf_conf.address__2>0</app_nrf_conf.address__2>
<app_nrf_conf.send_crc_ack>1</app_nrf_conf.send_crc_ack>
<app_pas_conf.ctrl_type>1</app_pas_conf.ctrl_type>
<app_pas_conf.sensor_type>0</app_pas_conf.sensor_type>
<app_pas_conf.pedal_rpm_start>5</app_pas_conf.pedal_rpm_start>
<app_pas_conf.pedal_rpm_end>30</app_pas_conf.pedal_rpm_end>
<app_pas_conf.invert_pedal_direction>0</app_pas_conf.invert_pedal_direction>
<app_pas_conf.magnets>24</app_pas_conf.magnets>
<app_pas_conf.use_filter>1</app_pas_conf.use_filter>
<app_pas_conf.current_scaling>1</app_pas_conf.current_scaling>
<app_pas_conf.ramp_time_pos>0.6</app_pas_conf.ramp_time_pos>
<app_pas_conf.ramp_time_neg>0.3</app_pas_conf.ramp_time_neg>
<app_pas_conf.update_rate_hz>500</app_pas_conf.update_rate_hz>
<imu_conf.type>1</imu_conf.type>
<imu_conf.mode>0</imu_conf.mode>
<imu_conf.filter>1</imu_conf.filter>
<imu_conf.accel_lowpass_filter_x>0</imu_conf.accel_lowpass_filter_x>
<imu_conf.accel_lowpass_filter_y>0</imu_conf.accel_lowpass_filter_y>
<imu_conf.accel_lowpass_filter_z>0</imu_conf.accel_lowpass_filter_z>
<imu_conf.gyro_lowpass_filter>0</imu_conf.gyro_lowpass_filter>
<imu_conf.sample_rate_hz>200</imu_conf.sample_rate_hz>
<imu_conf.use_magnetometer>1</imu_conf.use_magnetometer>
<imu_conf.accel_confidence_decay>1</imu_conf.accel_confidence_decay>
<imu_conf.mahony_kp>0.3</imu_conf.mahony_kp>
<imu_conf.mahony_ki>0</imu_conf.mahony_ki>
<imu_conf.madgwick_beta>0.1</imu_conf.madgwick_beta>
<imu_conf.rot_roll>0</imu_conf.rot_roll>
<imu_conf.rot_pitch>0</imu_conf.rot_pitch>
<imu_conf.rot_yaw>0</imu_conf.rot_yaw>
<imu_conf.accel_offsets__0>0</imu_conf.accel_offsets__0>
<imu_conf.accel_offsets__1>0</imu_conf.accel_offsets__1>
<imu_conf.accel_offsets__2>0</imu_conf.accel_offsets__2>
<imu_conf.gyro_offsets__0>0</imu_conf.gyro_offsets__0>
<imu_conf.gyro_offsets__1>0</imu_conf.gyro_offsets__1>
<imu_conf.gyro_offsets__2>0</imu_conf.gyro_offsets__2>
</APPConfiguration>