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) |
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 |
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) |
Motor Overtemperature 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 (%) |
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 behavior is triggered. |
|---|---|
ID | 0x0055 |
DroneCAN Name | MOT_OVT_LIM |
Units | Units are in Degrees Celsius (°C) |
Motor Temperature Response
Description | The response to apply when the motor temperature limit is reached. The 'Limit Power Output' option will dynamically reduce duty cycle between the setpoint and the 'Motor Overtemperature Duty Limit' in response to the motor temperature to prevent the limit from being exceeded. The 'Power Step' option will reduce output duty cycle to the 'Motor Overtemperature Duty Limit' when the motor temperature limit is reached. |
|---|---|
ID | 0x0056 |
DroneCAN Name | MOT_OVT_RESP |
Units | N/A |
Value Mappings:
- 0 -> None
- 1 -> Limit Power Output
- 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 |
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 |
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 |
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 |
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 |
Value Mappings:
- 0 -> NTC
- 1 -> PT100
- 2 -> PT1000
Overtemperature Duty Limit
Description | The maximum duty cycle limit for the Overtemperature Response |
|---|---|
ID | 0x004a |
DroneCAN Name | OVT_RAMP_DTY_MIN |
Units | Units are in % duty cycle (%) |
Overtemperature Limit
Description | The limit at which overtemperature event activation occurs on the controller. The overtemperature response setting defines the behavior. 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) |
Overtemperature Ramp End Temperature
Description | Temperature at which the ramp should end when using "Power Ramp" Overtemperature Response. At this temperature the maximum duty cycle is limited to Overtemperature Duty Limit. |
|---|---|
ID | 0x001b |
DroneCAN Name | OVT_RAMP_TEMP |
Units | Units are in Degrees Celsius (°C) |
Overtemperature 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 "Overtemperature Duty Limit". "Power Ramp" linearly ramps the maximum duty cycle from 100 at "Temperature Limit" to "Overtemperature Duty Limit" at "Overtemperature 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 |
Value Mappings:
- 0 -> Power Step
- 1 -> Power Ramp
- 2 -> None
Overvoltage Limit Response
Description | Behavior response when configured overvoltage limit on the bus is triggered. Bus voltage exceeded the limit. |
|---|---|
ID | 0x003b |
DroneCAN Name | OVV_LIM_RES |
Units | N/A |
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) |
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) |
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 |
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 |
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) |
Start-Up Bridge Tests
Description | Run bridge self-tests when the unit powers on. |
|---|---|
ID | 0x001d |
DroneCAN Name | BRIDGE_TST_EN |
Units | N/A |
Undervoltage Limit Response
Description | Behavior response when configured undervoltage limit on the bus is triggered. Bus voltage below the limit. |
|---|---|
ID | 0x003c |
DroneCAN Name | UVV_LIM_RES |
Units | N/A |
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 undervoltage response. |
|---|---|
ID | 0x001a |
DroneCAN Name | UVV_START |
Units | Units are in Volts (V) |