Hi guys, I’m completely new to VESC and started upgrading my stock XR+ with an XRV Power Kit. I wanted to make a fresh new install and therefore i orientated on those videos/sides:
The problem now is, that when wanting to balance the board in Handtest Mode (standing evenly on kitchen rolls ^^) like surfdado in the 2. video (37:00) by pressing both sides of the footpad sensor, the wheel first kept steady but when tilting the board only a little bit, it went crazy fast. My first attempt was to recalibrate all the IMU settings (all the 4 steps) but now it starts spinning fast already when holding down both sides of the sensor (keeping it evenly, without tiliting it in any direction slighty). I also entered all the specs according to the XRV power kit.
Some Specs:
- I am using the Vesc Tool Android App
- Controller: Little_F0Cer_V3
- FW: v6.05
- additionally, I installed the Refloat Package
What I did at the beginning:
So first, i made a new firmware update from 6.02 or 6.2 (not sure anymore) to 6.05 (the latest now as i know). Therefore i also did what surfdado said in his video " VESC firmware upgrade to 6.05? V2!!" (cannot post a third link). Also for the rest, i did everything as in the other 2 vids. Then i ran the motor wizard, just like shown in the videos posted above…
The settings i made:
motor cfg/general/current:
- motor current max: 100 A (alt: 120)
- motor current max brake: -100 A
- absolute maximum current: 150 A
- battery current max: 30 A
- battery current max regen: -30 A
motor cfg/general/BMS:
- uncheck all checkboxes
- temperature limit start and end both to 70 •C
- SOC limit start and end to 0 %
motor cfg/general/voltage:
- battery voltage cutoff start: 40.5 V
- battery voltage cutoff end: 37.5 V
motor cfg/general/temperature:
- acceleration temperature decrease: 0 %
- mosfet temp cutoff start: 75 •C
- mosfet temp cutoff end: 85 •C
- motor temp cutoff start: 80 •C
- motor temp cutoff end: 95 •C
motor cnfg/FOC/General:
- motor resistance: 100.0 mOhms
- observer gain: 0.8
motor cnfg/FOC/Hall Sensors:
- sensorless ERPM: 1000.0 (–> due to the new firmware 6.05 i set it on purpose to 1000 instead of 2000 but that does not make a difference, i tested it)
- hall interpolation ERPM: 150
motor cnfg/FOC/Advanced:
- zero vector frequency: 27 kHz
- FOC observer type: ortega original
motor cnfg/FOC/field weakening:
- current max: 30 A
- dury start: 60 %
- ramp time: 500 ms
App Cfg/IMU:
- accelerometer confidence decay: 0.02
- sample rate: 800 Hz !!!
Refloat Cfg/Specs:
- Loop Hertz: 800 Hz so that it matches with the sample rate of the IMU!!!
- high voltage threshold: 64.5 V
- low voltage threshold: 45.0 V
- enable beeper on servo/ppm
ADDITIONAL ON 6.05 firmware:
motor cnfg:FOC/advanced
- speed tracker position source: corrected position
- short low side fets on zero duty: enabled
To be safe, before updating the firmware, I made a backup of my working one out of the box from the XRV power kit, i tested it and it worked well. I also tried to restore it but Vesc Tool says that I am now in a new firmware and so that won’t work…
I am glad for everyone trying to help me as I am really desperate now…
Thanks in advance, have a great Day
- Marco
Edit: tried flashing the original firmware 6.02 where I made the backup but the restoring option still says I am in the wrong firmware. Though, i get the same problem when doing all the stuff again with 6.02. Also, it shows to be in limited mode, I only had UART to connect, but could never connect directly to the little focer.
