--- title: Motor Drive Settings slug: legacy-docs-gk-3-0/rnkH-motor-drive-settings icon: ⚙️ createdAt: 2024-01-14T23:54:54.822Z --- :::hint{type="info"} The following settings are related to the motor drive and control interfaces on the micro**DRIVE **LP units. ::: ### AFW Enabled | **Description** | Enables regenerative braking. The result is far greater linearity on ESC output, alongside increased efficiency. Must be disabled for use with power supplies or systems that cannot handle regenerative current (eg. tethers). | | --------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | **CAN Name** | AFW\_EN | | **Units** | N/A | | **Advanced** | NO | ### Automatic Timing Advance | **Description** | Toggle the operation of automatically varying the timing advance to the connected motor depending on loading conditions. In most cases, leaving this function enabled results in the best overall efficiency. | | --------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | **CAN Name** | AUTO\_TIMING | | **Units** | N/A | | **Advanced** | YES | ### Brake on Stop | **Description** | Enables brake once the unit is given a 0% throttle signal. Prevents windmilling of propellers. Recommended to be enabled when using reversible drive mode. | | --------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- | | **CAN Name** | BRK\_ON\_STOP | | **Units** | N/A | | **Advanced** | NO | ### Bus Current Limit | **Description** | Limits the maximum current limit allowed on the bus. The unit will cap the maximum power output at the limit setpoint. | | --------------- | ---------------------------------------------------------------------------------------------------------------------- | | **CAN Name** | BUS\_CUR\_LIM | | **Units** | Units are in Amps (A) | | **Advanced** | NO | ### Calibrated Values Enable | **Description** | Utilise the factory calibrated values for onboard sensors. Disable for base uncalibrated scaling. | | --------------- | ------------------------------------------------------------------------------------------------- | | **CAN Name** | USE\_CAL\_EN | | **Units** | N/A | | **Advanced** | YES | ### Drive Mode | **Description** | Tailor output drive method. Normal will scale 0-100% throttle in the desired direction, applications include multi-rotors, VTOL, propeller flight. Reversible will scale -100-0-100% throttle for applications such as 3D flying. RPM mode will drive at a constant RPM proportional to the throttle value based off the configured minimum and maximum RPM, applications include helicopters, swashplate flight, constant speed applications. | | --------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | **CAN Name** | DRV\_MODE | | **Units** | N/A | | **Advanced** | NO | **Value Mappings**: - 0 -> Normal - 1 -> Reversible - 2 -> RPM ### Drive Topology | **Description** | The algorithm to use commutating the motor. | | --------------- | ------------------------------------------- | | **CAN Name** | DRV\_TOP | | **Units** | N/A | | **Advanced** | YES | **Value Mappings**: - 0 -> Six Step - 1 -> FOCAL ### Fixed Timing Advance | **Description** | Force the motor timing advance to a constant value. | | --------------- | --------------------------------------------------- | | **CAN Name** | TIMING\_ADV | | **Units** | Units are in degress (°) | | **Advanced** | YES | ### Max Regeneration Current | **Description** | The maximum level of regenerative current (when AFW is enabled) on the bus before the unit limits. A higher value will result in a quicker response on throttle down. Regenerative current is negatively signed. | | --------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | **CAN Name** | REGEN\_BUS\_CUR | | **Units** | Units are in Amps (A) | | **Advanced** | NO | ### Maximum FOCAL PWM Frequency | **Description** | The maximum PWM frequency to allow on the output to the motor when operating using FOCAL. Higher values result in smoother motor drive, and higher controller temperatures. FOCAL has a lower frequency range than BLDC. | | --------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | **CAN Name** | MAX\_FOCAL\_FREQ | | **Units** | Units are in Hertz (Hz) | | **Advanced** | YES | ### Maximum PWM Frequency | **Description** | The maximum PWM frequency to allow on the output to the motor. Higher values result in smoother motor drive, and higher controller temperatures. | | --------------- | ------------------------------------------------------------------------------------------------------------------------------------------------ | | **CAN Name** | MAX\_PWM\_FREQ | | **Units** | Units are in Hertz (Hz) | | **Advanced** | YES | ### Maximum RPM Limit | **Description** | The maximum RPM to limit the output to when the limit is enabled. | | --------------- | ----------------------------------------------------------------- | | **CAN Name** | MAX\_RPM\_LIM | | **Units** | Units are in Revolutions Per Minute (RPM) | | **Advanced** | YES | ### Minimum Duty Cycle | **Description** | The minimum allowed duty cycle to apply to the motor. This is the lowest duty cycle that will be applied when the throttle is non-zero. This should be set to the lowest duty cycle that allows the motor to spin from stopped. | | --------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | **CAN Name** | MIN\_DUTY | | **Units** | Units are in duty cycle percent (%) | | **Advanced** | YES | ### Minimum PWM Frequency | **Description** | The minimum PWM frequency to allow on the output to the motor. Lower values result in reduced linearity and capacitor lifetimes. | | --------------- | -------------------------------------------------------------------------------------------------------------------------------- | | **CAN Name** | MIN\_PWM\_FREQ | | **Units** | Units are in Hertz (Hz) | | **Advanced** | YES | ### Motor Kv | **Description** | Back EMF constant for connected motor. Used for stability calcuations. Zero value indicates automatic specification. | | --------------- | -------------------------------------------------------------------------------------------------------------------- | | **CAN Name** | MOT\_KV | | **Units** | Units are in RPM per Volt (RPM/V) | | **Advanced** | YES | ### Motor Pole Pairs | **Description** | Number of motor pole pairs of the connected motor, utilised for scaling eRPM to RPM. | | --------------- | ------------------------------------------------------------------------------------ | | **CAN Name** | MOT\_POLE\_PAIRS | | **Units** | N/A | | **Advanced** | NO | ### Normal Rotation | **Description** | Output rotation direction. Toggling this setting reverses the output direction without requiring cabling modification. | | --------------- | ---------------------------------------------------------------------------------------------------------------------- | | **CAN Name** | DIRECTION | | **Units** | N/A | | **Advanced** | NO | ### Phase Current Limit | **Description** | The current limit to apply to drive on the phase/output from the controller. | | --------------- | ---------------------------------------------------------------------------- | | **CAN Name** | PH\_CUR\_LIM | | **Units** | Units are in Amps (A) | | **Advanced** | NO | ### Ramp Down Rate | **Description** | Slew rate to apply to transients when decreasing the output duty cycle to the motor. | | --------------- | ------------------------------------------------------------------------------------ | | **CAN Name** | RAMP\_DWN\_RT | | **Units** | Units are in % per 10 microseconds (%/10μs) | | **Advanced** | NO | ### Ramp to Stop Rate | **Description** | The rate at which the unit will reduce power after commanded to stop (zero throttle command). The unit is % per 10 microseconds applied to the commanded output duty cycle. | | --------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | **CAN Name** | RAMP\_STOP\_RT | | **Units** | Units are in % per 10 microseconds (%/10μs) | | **Advanced** | YES | ### Ramp Up Rate | **Description** | Slew rate to apply to transients when increasing the output duty cycle to the motor. | | --------------- | ------------------------------------------------------------------------------------ | | **CAN Name** | RAMP\_UP\_RT | | **Units** | Units are in % per 10 microseconds (%/10μs) | | **Advanced** | NO | ### RPM Limit | **Description** | Enable RPM limit. The unit will decrease the output duty cycle as the approach to setting limit occurs. | | --------------- | ------------------------------------------------------------------------------------------------------- | | **CAN Name** | RPM\_LIM\_EN | | **Units** | N/A | | **Advanced** | YES | ### Truncate Throttle Below Minimum Duty Cycle | **Description** | Throttle values that map to a duty cycle below the configured minimum duty cycle are truncated to 0. In normal drive mode if MIN\_DUTY is set to 5% then any throttle below 5% will command 0 output duty. This setting does not affect zero throttle checks. This should be enabled when using 'Dynamic Idle' on Betaflight flight computers. | | --------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | **CAN Name** | TRNC\_MIN\_DUTY | | **Units** | N/A | | **Advanced** | YES |