[OLD] VESC Setup & Explanation; FW 6.02
THIS ARTICLE AND INFORMATION IS OLD, AND MOSTLY OUTDATED. PLEASE REFER TO MORE CURRENT SETUP AND VALUES INFORMATION PUBLISHED AS RECENTLY AS CAN BE FOUND FOR YOUR PROJECT.
This is an accompanying article for the long format video uploaded to The Board Garage YouTube channel, embedded below. This contains a bit more informtion, the links mirrored in the video description, as well as other links and values as they pertain to the setup.
Another article detailing a setup on PEV.dev:
https://pev.dev/t/zero-to-usable-vesc-step-by-step-software-only/944
Battery Voltage & Current Examples:
Stock Onewheel XR Battery:
15s2p; Parallel groups contain 2 cells, 15 parallel groups (cells) in series.
6Ah Capacity
Full Voltage: 63v
Nominal Voltage: 54v
Empty Voltage: 45v
Set high voltage tiltback to 64v
Set low voltage tiltback to 45v
Set low voltage motor cuttoffs to: 35v start, 30v end.
Battery Current Max: 30a
Battery Current Regen: 15a
20s2p “Regular” (Mine) or “Speed” (Z Battery) Battery:
20s2p; Parallel groups contain 2 cells, 20 parallel groups (cells) in series.
5.6Ah Capacity
Full Voltage: 84v
Nominal Voltage: 72v
Empty Voltage: 60V
Set high voltage tiltback to 85v
Set low voltage tiltback to 60v
Set low voltage motor cuttoffs to: 46v start, 40v end.
18s2p “ME4T”Pack Battery:
18s2p; Parallel groups contain 2 cells, 18 parallel groups (cells) in series.
10Ah Capacity
Full Voltage: 75.6v
Nominal Voltage: 64.8v (65v)
Empty Voltage: 54V
Set high voltage tiltback to 76.6v
Set low voltage tiltback to 54v
Set low voltage motor cuttoffs to: 42v start, 37v end.
Motor Detection & Setup Links:
https://pev.dev/t/how-to-configure-motor/486
https://pev.dev/t/motor-crunch-troubleshooting/228
^Always refer back to PEV.dev, as new information is posted and values are updated as things are optimized.
For the Superflux motor, the only adjustments I generally make are the following:
Sensorless eRPM to 2,000 in the Detection Wizard (same as Hypercore).
After detection, I change Hall Interpolation eRPM from 500 to 200 in FOC -> Hall Sensors.
I increase motor resistance by 20-25% in FOC -> General.
I change Observer Gain to half of the detected value.
I was informed that such changes may not be necessary with a CannonCore motor. When those are more widely available, there will be another set of content focusing on that.
FRANKLY, YOU SHOULD BE COMBING THROUGH ALL OF THE THREADS ON PEV.DEV THAT HAVE TO DO WITH THE PARTS YOU’RE USING IN YOUR BOARD.
Motor Detection Values from the Video:
Motor Current: 55.08A
Motor R (resistance): 87.89mΩ
Motor L (inducatnce): 232.90µH
Motor Lq-Ld: 57.09µH
Motor Flux Linkage: 27.93mWb
