Protection Systems Settings

The following settings are related to protection system limits and behaviours once triggered on the nanoDRIVE units.

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.
ID	0x004d
DroneCAN Name	BUS_CUR_LIM
Units	Units are in Amps (A)
Advanced	NO

Ignore Zero Throttle After Watchdog Event

Description	Ignore zero throttle requirement immediately after rebooting from a watchdog reset. In the event of a software crash that causes the unit to reboot, zero throttle will not be required to resume driving after boot.
ID	0x0168
DroneCAN Name	WWDG_ZER_THT
Units	N/A
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.
ID	0x003f
DroneCAN Name	REGEN_BUS_CUR
Units	Units are in Amps (A)
Advanced	NO

Motor Over Temperature Duty Limit

Description	The lowest duty cycle percentage that the motor overtemperature response can reduce the output duty cycle to. Setting this to a high value may cause the motor to exceed its temperature limit.
ID	0x0193
DroneCAN Name	MOT_T_DTY_LIM
Units	Units are in % duty cycle (%)
Advanced	YES

Motor Temperature Limit

Description	The maximum temperature to allow the connected sensor within the motor to reach. Once the temperature is reached, the motor temperature response behaviour is triggered.
ID	0x0055
DroneCAN Name	MOT_OVT_LIM
Units	Units are in Degrees Celsius (°C)
Advanced	YES

Motor Temperature Response

Description	The response to apply when the motor temperature limit is reached. The 'Power Ramp' option will gradually reduce duty cycle down to the 'Motor Over Temperature Duty Limit' in response to the motor temperature. The 'Power Step' option will reduce output duty cycle to the 'Motor Over Temperature Duty Limit' when the motor temperature limit is reached.
ID	0x0056
DroneCAN Name	MOT_OVT_RESP
Units	N/A
Advanced	YES

Value Mappings:

0 -> None
1 -> Power Ramp
2 -> Power Step

Motor Temperature Sensing

Description	Toggle the motor temperature sensor function. Enabling will introduce motor temperature measurement and limiting.
ID	0x0050
DroneCAN Name	MOT_T_EN
Units	N/A
Advanced	YES

Motor Temperature Sensor Coefficient

Description	The motor temperature sensor coefficient. The temperature coefficient is accessible from the sensor datasheet.
ID	0x0052
DroneCAN Name	MOT_T_COEFF
Units	N/A
Advanced	YES

Motor Temperature Sensor Nominal Resistance

Description	The motor temperature sensor nominal resistance coefficient. The coefficient is accessible from the sensor datasheet.
ID	0x0053
DroneCAN Name	MOT_T_NOMR
Units	N/A
Advanced	YES

Motor Temperature Sensor Nominal Temperature

Description	The motor temperature sensor nominal resistance coefficient. The coefficient is accessible from the sensor datasheet.
ID	0x0054
DroneCAN Name	MOT_T_NOMT
Units	N/A
Advanced	YES

Motor Temperature Sensor Type

Description	Selection of sensor type embedded into the motor, for use with motor temperature sensing.
ID	0x0051
DroneCAN Name	MOT_T_TYPE
Units	N/A
Advanced	YES

Value Mappings:

0 -> NTC
1 -> PT100
2 -> PT1000

Over Temperature Duty Limit

Description	The maximum duty cycle limit for the Over Temperature Response
ID	0x004a
DroneCAN Name	OVT_RAMP_DTY_MIN
Units	Units are in % duty cycle (%)
Advanced	YES

Over Temperature Limit

Description	The limit at which over-temperature event activation occurs on the controller. The over-temperature response setting defines the behaviour. Note that the controller has a separate hard temperature limit at 135C at which point the controller will shutdown.
ID	0x0045
DroneCAN Name	TEMP_LIM
Units	Units are in Degrees Celsius (°C)
Advanced	NO

Over Temperature Ramp End Temperature

Description	Temperature at which the ramp should end when using "Power Ramp" Over Temperature Response. At this temperature the maximum duty cycle is limited to Over Temperature Duty Limit.
ID	0x001b
DroneCAN Name	OVT_RAMP_TEMP
Units	Units are in Degrees Celsius (°C)
Advanced	NO

Over Temperature Response

Description	The response to apply to limit maximum output duty cycle when the temperature limit is reached on the controller. "Power Step" sets the maximum duty to "Over Temperature Duty Limit". "Power Ramp" linearly ramps the maximum duty cycle from 100 at "Temperature Limit" to "Over Temperature Duty Limit" at "Over Temperature Ramp End Temperature". "None" does not apply any limits to maximum output duty cycle. Note that the controller has a separate hard temperature limit at 135C at which point the controller will shutdown.
ID	0x0047
DroneCAN Name	OVT_RESP
Units	N/A
Advanced	NO

Value Mappings:

0 -> Power Step
1 -> Power Ramp
2 -> None

Overvoltage Limit Response

Description	Behaviour response when configured over-voltage limit on the bus is triggered. Bus voltage exceeded the limit.
ID	0x003b
DroneCAN Name	OVV_LIM_RES
Units	N/A
Advanced	YES

Value Mappings:

0 -> Limit Duty Cycle Output
1 -> Hard Shutdown
2 -> Disabled

Overvoltage Threshold

Description	The maximum voltage to allow the unit to operate up to before triggering overvoltage response.
ID	0x004b
DroneCAN Name	OVV_START
Units	Units are in Volts (V)
Advanced	YES

Phase Current Limit

Description	The current limit to apply to drive on the phase/output from the controller.
ID	0x004e
DroneCAN Name	PH_CUR_LIM
Units	Units are in Amps (A)
Advanced	NO

PTC Offset Resistance

Description	Offset resistance calculated by the ESC when using PTC temperature sensors.
ID	0x007e
DroneCAN Name	PTC_OFST_RES
Units	N/A
Advanced	YES

PTC Reference Temperature

Description	Reference temperature value to calibrate motor temperature measured by the PTC. This value should be the actual temperature of the PTC sensor. When this value is set to non-zero, the PTC temperature calibration runs and calculates the offset resistance, and this value is set back to zero.
ID	0x007d
DroneCAN Name	PTC_REF_TEMP
Units	N/A
Advanced	YES

Signal Timeout Period

Description	A timeout period where no valid signal is present results in shutting the output drive. The drive will be resumed once a valid signal is returned and the throttle is 0%. If the Arm message timeout period is less than this setting, the Arm timeout period will take precedence.
ID	0x0037
DroneCAN Name	RX_TIMEOUT
Units	Units are in Milliseconds (ms)
Advanced	YES

Start-Up Bridge Tests

Description	Run bridge self-tests when the unit powers on.
ID	0x001d
DroneCAN Name	BRIDGE_TST_EN
Units	N/A
Advanced	YES

Undervoltage Limit Response

Description	Behaviour response when configured under voltage limit on the bus is triggered. Bus voltage below the limit.
ID	0x003c
DroneCAN Name	UVV_LIM_RES
Units	N/A
Advanced	YES

Value Mappings:

0 -> Limit Duty Cycle Output
1 -> Hard Shutdown
2 -> Disabled

Undervoltage Threshold

Description	The minimum voltage to allow the unit to operate up to before triggering under voltage response.
ID	0x001a
DroneCAN Name	UVV_START
Units	Units are in Volts (V)
Advanced	YES

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