This guide was written using values for the Floatwheel ADV/Pro
If following with another board the values will most likely be incorrect
If you have not updated the VESC firmware on your controller do so before setting up the motor
Navigate to Firmware tab
Note that VESC Tool has detected Little_FOCer_v3 for your board
Rest your phone with VESC Tool near the controller box for good connection
Select Upload and wait while the Firmware uploadsOnce your firmware has been updated continue with motor setup
Select Yes on the Load Default Parameters prompt
Select EUC
Check the "Override (Advanced)" box
Select Large Outrunner
Check the "Override (Advanced)" boxFill in the following parameters:
- Max Power Loss:700.0 W
- Openloop ERPM:700
(Leave at default, value unused due to sensors)
- Sensorless ERPM:1500
- Motor Poles:30
Hit Next & Select "Yes" on the Motor Selection prompt
Fill in the following parameters:
- Battery Cells Series:20
- Battery Capacity: See Below
- Battery Current Regen:-70.0 A
- Battery Current Max:70.0 A
Battery Capacity is dependent on hardware:
8.0Ah
for the Standard battery pack
8.4Ah
for the Pro battery pack
Select Direct Drive
Set Wheel Diameter:300.00 mm
Tony's Reccomendation
Measured Diameter of stock tire at 10 psi:292.8 mm
If you are using a different tire adjust as needed
This can be adjusted later in Motor Cfg -> Additional Info -> Setup
This will provide you with more accurate speed readings
Before Run Detection turn your board on to its side or in some other way retain the board so that the wheel can spin freely without catching or rubbing.
Detected values will vary.
Expected ranges are as follows:
Motor Current:~84 A
(~74 A
)
Motor R:55-75 mΩ
(80-100 mΩ
)
Motor L:~135 μH
(~200 μH
)
Motor Lq-Ld:~20 μH
(~30 μH
)
Motor Flux Linkage:~30 μH
(~30-40 μH
)
Temp Comp:True
Sensors:Hall Sensors
Numbers have been updated to reflect new batch of motors
Numbers in parenthesis are from Tony's video and apply to batch of first 200 motors
Head over to the Motor Cfg header tab in the vesc tool app.
Under General category there will be changes in the Current, Voltage, and Temperature sub pages
On the Current page set the following:
Motor Current Max:100.00 A
Motor Current Max Brake:-100.00 A
Absolute Maximum Current:160.00 A
Write the settings to the boardOn the Voltage page set the following:
Battery Voltage Cuttoff Start:54.00 V
Battery Voltage Cuttoff End:50.00 V
Write the settings to the boardOn the Temperature page set the following:
Acceleration Temperature Decrease:0 %
Motor Temp Cutoff Start:75.0 °C
Motor Temp Cutoff End:80.0 °C
Write the settings to the board
Under FOC category there will be changes in the Hall Sensors, Offsets, Field Weakening and Advanced sub pages
On the Hall Sensors page set the following:
Hall Interpolation ERPM:250.00
Write the setting to the boardOn the Offsets page set the following:
Run Calibration At Boot:Off
*Optional
Turning this off allows the board to boot faster
Write the setting to the boardOn the Field Weakening page set the following:
Field Weakening Current Max:50.00 A
Field Weakening Duty Start:60.0 %
Field Weakening Ramp Time:1000 ms
Write the settings to the boardOn the Advanced page set the following:
Zero Vector Frequency:26.0 kHz
*
Accordign to Tony adjusting this value by±1 kHz
can help with motor UFO sound
Write the setting to the board
Motor Setup completed
Continue on to the IMU Setup Guide