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FW version: Stable

Supply (DC side)

Measurements​

All variables are related to the power supply (DC side of the controller).

tip

How to limit battery voltage and current can be found in the limiter section.

warning
  • Do not use a single-quadrant power supply with your motor controller! It is not possible to prevent current to flow into the battery in all cases. Always use battery that can handle current in both directions.
  • The controller is not a laboratory measurement device, as its purpose is to control the motor. Nevertheless, in the majority of the cases, the accuracies shall be within the +-5%, both in the voltage and current domains.
info
  • Our ESCx controllers do not implement direct measurement of the DC-side current in hardware. Even though the values are calculated from the precise AC-side measurements, we found out that our readings are more accurate than within most of the competitor's products.
  • The following variables are located in the /driver/supply folder.

voltage [V]​

Battery (input supply) voltage.

current [A]​

Battery (input supply) current.

info
  • Positive current -> current from battery to motor (motoring)
  • Negative current -> current from motor to battery (generating)

currentf [A]​

Filtered battery (input supply) current.

tip

Value is filtered using the filter constants /driver/Kf and /driver/Kr.

cap [mAh]​

Coulomb counter since controller reboot. During regeneration, cap value is being decreased.

Precharge settings​

note

Typical precharge sequence :

  • Connect the battery + supply to the KEY pin of your controller
  • Power the controller on -> Typically connect the POWER pin to KEY pin
  • The controller will use the voltage source at KEY pin to precharge internal capacitors until pchg1 voltage is reached or pchgtim time elapses
  • The controller will perform the internal self-test
  • If everything is ok, the main power contactor is closed
  • Contactor settings can be adjusted in /common/contactor
info

Not all the controllers are precharge-equipped. This feature requires hardware support. By default, only SL controllers are equipped with precharge in the standard variant. For more info, please check the hardware documentation

pchg1 [V]​

Precharge voltage the controller tries to reach at initialization after booting. If set to zero, no actual precharge is issued and the pre-init waits for proper init conditions to be met instead.

pchg2 [V]​

Precharge voltage the controller tries to reach at manually requested initialization (e.g. using reinit command, or using driver CAN API.). If set to zero, no actual precharge is issued and only pchgtim time is checked in the pre-init.

pchgtim [ms]​

The maximum duration of the precharge phase (absolute value). Setting the value to zero disables the timeout and the pre-init might wait indefinitely. A negative value disables the automatic initialization of the driver after booting.