Diagnostics
Details on diagnostics features, fault detection and handling within the microDRIVE units.
The microDRIVE units have automatic logging built-in, with a configurable rate. The log is circular, so it is constantly available for data acquisition. A completely full log can take 20-40 seconds to download off the microDRIVE. Once loaded, they can be saved to a CSV or viewed with the graph viewer. CSVs should be downloaded and sent for analysis when required. The configuration tool also supports an automatic upload feature to send files to the Hargrave team for further analysis and troubleshooting.
Logged data is cleared between successful firmware updates by the unit automatically.
The following data is logged, which may vary between firmware versions, along with a description:
Data Point | Unit | Description |
|---|---|---|
Bus Voltage | Volts | The measured input voltage to the ESC. |
Bus Current | Amps | The measured input current to the ESC. |
Bridge Temperature | Degrees C | The temperature of the 3-phase bridge. This is the primary heat source with the ESC. |
Electrical RPM | RPM | The current applied speed of the motor. Reports electrical RPM when the motor pole pair count is set to 1; mechanical RPM otherwise. |
Input Duty Cycle | % | The requested duty cycle, as reported by the input signal system, regardless of signal input type. |
Output Duty Cycle | % | The current applied duty cycle to the 3-phase bridge. If this does not equal the input duty cycle, the ESC is actively limiting the output. |
Phase Current | Amps | The output current to the 3-phase bridge. This is always higher than the bus current and should remain within the ESC limits. |
Power | Watts | The measured input power to the ESC. |
Warnings Active | - | This indicates the currently active warning flags during operation. See the Warnings guide below. |
Errors Active | - | This indicates the currently active error flags during operation, which should be seriously reviewed. See the Errors guide below. |
Current Unit State | - | The operating state of the ESC. |
Voltage Ripple Deviation | % | The voltage ripple measured on the input to the ESC. Under steady-state loads, this should be below +-5% of the bus voltage. A higher voltage ripple is an indicator the system requires more input capacitance. |
MCU Temperature | Degrees C | The measured temperature of the main processor within the ESC. |
Motor Temperature | Degrees C | The measured temperature of the connected motor. Requires a motor with a compatible sensor (NTC or PTC). |
The logs will also store the configuration applied to the unit during log retrieval, including settings and firmware version.
The microDRIVE units have the ability to identify and communicate various operational states and related errors. While many of them are primarily used for drive debugging, they provide valuable information. This section serves as a reference for the errors and warnings that the unit will report.
Warnings are primarily intended to communicate system issues proactively, and their behaviour can be modified. They serve as an early indication of potential problems within the system.
On the other hand, Errors present a direct risk to the performance and operation of the unit if they are not addressed.
The links below contain further information regarding errors and warnings.
DroneCAN Status messages have errors and warnings defined in the following section.
The diagnostics LED on each microDRIVE unit illuminates with different colours to indicate the current operating state of the unit. Below are the explanations and descriptions of the colour states.
LED Colour | Description |
|---|---|
Blinking RED | A hard error has occurred, and the motor drive is disabled. Connect to the configuration tool or check telemetry flags. |
Solid PINK | USB Mode is active. The unit can be connected to the configuration tool. The motor drive is disabled. |
Blinking PURPLE | The unit is waiting for a signal. No protocols are detected. |
Blinking GREEN | Motor control is active, and ESC is armed and actively driving the motor. |
Blinking AQUA | ESC is armed and waiting for a non-zero signal to begin driving the motor. |
Blinking YELLOW | ESC is disarmed and waiting for a zero-throttle signal before arming. This check can be bypassed depending on configuration and protocol. |
Blinking Orange | A firmware update is occurring. The motor drive is locked out until completion. |
Solid RED | A critical error has occurred within firmware and recovery. Contact us for more information. |
The following beep tones are present during unit operation as an extra form of diagnostics parallel to the LED.
Beeps | Purpose |
|---|---|
2 second repeated, 1 beep | No signal found on input. |
2 beeps, not repeated | CAN Bus mode. |
3 beeps, not repeated | Serial Protocol (DShot, PWM). |
3 beeps, event-based | Regained signal after signal loss event. |