The GateKEEPER line of motor controllers include a comprehensive set of protection features that help ensure safe and reliable operation across a wide range of demanding applications. These protections can be individually configured to suit the needs of your power-train via the Hargrave Configurator.

This document outlines the configurable protections and considerations to take into account to configure to suit the needs of your power-train.

By default the unit will require a throttle of 0% to be received in order to arm from startup or when recovering from an error state. This requirement can be disabled.

The Bus Current Limit protection prevents the motor controller from drawing more current from the power supply or battery than is safe. This is especially critical for battery-powered applications to prevent brownouts or over-current events. This setting cannot be disabled but the current level at which limiting is applied can be changed.

The Phase Current Limit sets the maximum allowed current flowing through each motor phase. This protects the motor windings and motor controller from overheating or damage during high-load operation. Phase current is always greater than bus current except at 100% throttle. This setting cannot be disabled but the current level at which limiting is applied can be changed.

This protection limits the amount of regenerative current allowed during braking or deceleration. It prevents excessive back-flow into the battery, which can cause voltage spikes or damage energy storage components. Setting this value to a lower value will cause the motor to decelerate slower. Regenerative abilities can be disabled by disabling Active Free Wheeling (AFW). Alternatively the current level at which limiting is applied can be changed.

The under-voltage threshold defines the minimum allowable input bus voltage. If the voltage drops below this level, the motor controller can reduce power or shut down to protect the battery and system. This protection can be disabled meaning the unit takes no action when the voltage drops below the threshold.

The over-voltage threshold specifies the maximum allowable input bus voltage. If the voltage exceeds this level, the motor controller can reduce the rate of deceleration or shut down to protect the battery and system. This protection can be disabled meaning the unit takes no action when the voltage exceeds the threshold.

This feature monitors the unit’s internal temperature and begins protection measures when a specified limit is exceeded. This helps prevent thermal shutdown or component damage due to overheating. By setting the Over Temperature Response to ‘None’ this protection can be disabled and the motor controller will shutdown at its absolute temperature limit.