openinverter.org wiki - User contributions [en]

Parameters

2021-11-12T19:15:18Z

Jon volk: added fweakstrt definition

The inverter can be adapted to many kinds of motors, battery packs and driver preferences by changing parameters.

== Motor Parameters ==
The parameters to adjust the inverter to the motor are boost, fweak, fslipmin, fslipmax, polepairs, fmin, fmax and numimp.

They can be deduced from the motors nameplate or by trying which feels best. For illustration we will assume a bus voltage of 500V and a 4-pole (p=2) motor with a nominal speed of n=1450rpm@f=50Hz and 230V. With 500V DC an AC voltage of 500/1.41=355V can be generated.

'''boost''' is the digital amplitude of the sine wave at motor startup. It is needed to overcome the motors ohmic resistance. Digital amplitude is an internal quantity. 0 means no voltage is generated at all, 37813 means the full possible voltage is generated.

Example: boost=1700

At full throttle an effective voltage of 1700/37813*355=16V is generated. The best way to find a feasible value is to optimize it in the finished car. Start with the default value and increase until you get a good startup.

'''fweak''' is the frequency at which the full possible voltage is generated. It is also the point of the highest motor power. Beyond fweak torque will decrease to the square of frequency and thus power will decrease linear with frequency.

A starting point for fweak is the motors nameplate:

[[File:Fweak.png|210x210px]]

With our illustration motor fweak=(355 V/230 V) * 50 Hz = 77 Hz. fweak can be configured lower than that resulting in more torque at the low end.

'''fslipmin'''/'''fslipmax''' is the slip frequency at which the motor is run at minimum/maximum throttle. fslipmin is set to the motors optimal slip frequency which can be deduced from the nameplate. fslipmin=f-p*n/60. With our illustration motor fslipmin=50-2*1450/60=1.66Hz. fslipmax can be set as high as breakdown torque which is not found on the nameplate. So its best found experimental starting with 2*fslipmin. If set too high the motor will start to rock violently on startup, possibly tripping the over current limit.

'''polepairs''' is set to p, 2 in our example.

'''fmin''' should be set just below fslipmin.

'''fmax''' is used to limit the speed of the motor. The default 200Hz would result in a maximum speed of about 6000rpm.

'''ampmin''' Is the minimum relative amplitude fed to the motor. At very low amplitudes the motor does not generate any noticable torque and throttle travel is wasted that does nothing. Find out a good value by experimenting.

== Inverter Parameters ==
'''pwmfrq''' Sets the frequency at which the IGBTs are switched on and off. The faster the switching the higher the losses in the inverter and the lower the losses in the motor. The maximum frequency is also limited by the driver boards as explained here.

'''pwmpol''' Sets the polarity of the PWM signals, active high or active low. Do not touch this parameter if you don't know what you're doing. When configured inversely it will blow up your power stage immediatly if connected to a potent power source like batteries.

'''deadtime''' The time between switching off one IGBT and switching on the other. 28=800ns, 63=1.5µs. More values can be found in the STM32 data sheet. Make sure to test the deadtime at low power levels. Setting the deadtime too low while operating of a potent power source can blow up your power stage!

== Parameter Reference ==
The following parameters currently exist to customize the controller software. Type
set param <value>
to change it. Type
get param
to get the current value.

Parameters are internally stored with 5 binary fraction digits. That means there are 32 possible values after the decimal point. So when you set a value of 0.35 you might end up with 0.33.

{| class="wikitable"
|'''Name'''
|'''Unit'''
|'''Min'''
|'''Max'''
|'''Default'''
|'''Description'''
|-
| colspan="6" |'''Motor (FOC)'''
|-
|curkp
|
|0
|20000
|64
|Current controller proportional gain
|-
|curki
|
|0
|100000
|20000
|Current controller integral gain
|-
|curkifrqgain
|dig/Hz
|0
|1000
|50
|Current controllers integral gain frequency coefficient
|-
|fwkp
|
| -10000
|0
| -100
|Cross comparison field weakening controller gain
|-
|ffwstart
|Hz
| 0
|1000
| 200
|Starting point of field weakening controller. Below that frequency it is disabled, above it its gain is increased proportional to frequency and hits ''fwkp'' at ''fmax''.
|-
|syncadv
|dig/Hz
| -100
|100
|10
|Shifts "syncofs" downwards/upwards with frequency
|-
| colspan="6" |'''Motor (sine)'''
|-
|boost
|dig
|0
|37813
|1700
|0 Hz Boost in digit. 1000 digit ~ 2.5%
|-
|fweakstrt
|Hz
|0
|1000
|400
|Fweak value at potnom < 35%. Can improve low speed stability and reduce oscillation when set higher than fweak. Set equal to fweak to disable.
|-
|fweak
|Hz
|0
|400
|67
|Frequency where V/Hz reaches its peak
|-
|fconst
|Hz
|0
|400
|400
|Frequency where slip frequency is derated to form a constant power region. Only has an effect when < fweak
|-
|udcnom
|V
|0
|1000
|0
|Nominal voltage for fweak and boost. fweak and boost are scaled to the actual dc voltage. 0=don't scale
|-
|fslipmin
|Hz
|0
|100
|1
|Slip frequency at minimum throttle
|-
|fslipmax
|Hz
|0
|100
|3
|Slip frequency at maximum throttle
|-
|fslipconstmax
|Hz
|0
|10
|5
|Slip frequency at maximum throttle and fconst
|-
|fmin
|Hz
|0
|400
|1
|Below this frequency no voltage is generated
|-
| colspan="6" |'''Motor (common)'''
|-
|polepairs
|
|1
|16
|2
|Pole pairs of motor (e.g. 4-pole motor: 2 pole pairs)
|-
|respolepairs
|
|1
|16
|1
|Pole pairs of resolver (normally same as polepairs of motor, but sometimes 1)
|-
|sincosofs
|dig
|0
|4096
|2048
|Mid point of sin/cos chip
|-
|encflt
|
|0
|16
|4
|Filter constant between pulse encoder and speed calculation. Makes up for slightly uneven pulse distribution
|-
|encmode
|
|0
|4
|0
|0=single channel encoder, 1=quadrature encoder,
2=quadrature /w index pulse,
3=SPI (deprecated),
4=Resolver,
5=sin/cos chip
|-
|fmax
|Hz
|0
|400
|200
|At this frequency rev limiting kicks in
|-
|numimp
|Imp/rev
|8
|8192
|60
|Pulse encoder pulses per turn
|-
|dirchrpm
|rpm
|0
|2000
|100
|Motor speed at which direction change is allowed
|-
|dirmode
|
|0
|1
|1
|0=button (momentary pulse selects forward/reverse), 1=switch (forward or reverse signal must be constantly high)
|-
|syncofs
|dig
|0
|65535
|0
|Phase shift of sine wave after receiving index pulse
|-
|snsm
|
|2
|3
|2
|Motor temperature sensor. 12=KTY83, 13=KTY84, 14=Leaf, 15=KTY81
|-
| colspan="6" |'''Inverter'''
|-
|pwmfrq
|
|0
|3
|2
|PWM frequency. 0=17.6kHz, 1=8.8kHz, 2=4.4kHz, 3=2.2kHz. Needs PWM restart
|-
|pwmpol
|
|0
|1
|0
|PWM polarity. 0=active high, 1=active low. DO NOT PLAY WITH THIS!
Needs PWM restart
|-
|deadtime
|dig
|0
|255
|28
|Deadtime between highside and lowside pulse. 28=800ns, 56=1.5µs. Not always linear, consult STM32 manual. Needs PWM restart
|-
|ocurlim
|A
| -65535
|65535
|100
|Hardware over current limit. RMS-current times sqrt(2) + some slack. Set negative if il1gain and il2gain are negative.
|-
|minpulse
|dig
|0
|4095
|1000
|Narrowest or widest pulse, all other mapped to full off or full on, respectively
|-
|il1gain
|dig/A
|0
|4095
|4.7
|Digits per A of current sensor L1
|-
|il2gain
|dig/A
|0
|4095
|4.7
|Digits per A of current sensor L2
|-
|udcgain
|dig/V
|0
|4095
|6.15
|Digits per V of DC link
|-
|udcofs
|dig
|0
|4095
|0
|DC link 0V offset
|-
|udclim
|V
|0
|1000
|540
|High voltage at which the PWM is shut down
|-
|snshs
|
|0
|1
|0
|Heatsink temperature sensor. 0=JCurve, 1=Semikron, 2=MBB600, 3=KTY81, 4=PT1000, 5=NTCK45+2k2, 6=Leaf
|-
|pinswap
|
|0
|7
|0
|Swap pins (only "FOC" software). Multiple bits can be set. 1=Swap Current Inputs, 2=Swap Resolver sin/cos, 4=Swap PWM output 1/3
0001 = 1 Swap Currents ony

0010 = 2 Swap Resolver only

0011 = 3 Swap Resolver and Currents

0100 = 4 Swap PWM 1 and 3 only

0101 = 5 Swap PWM 1 and 3 and Currents

0110 = 6 Swap PWM 1 and 3 and Resolver

0111 = 7 Swap PWM 1 and 3 and Resolver and Currents

1xxx likewise with PWM 2 and 3
|-
| colspan="6" |'''Derating'''
|-
|bmslimhigh
|%
|0
|100
|50
|Positive throttle limit on BMS under voltage
|-
|bmslimlow
|%
| -100
|0
| -1
|Regen limit on BMS over voltage
|-
|udcmin
|V
|0
|1000
|450
|Minimum battery voltage
|-
|udcmax
|V
|0
|1000
|520
|Maximum battery voltage
|-
|iacmax
|A
|0
|5000
|5000
|Maximum peak AC current
|-
|idcmax
|A
|0
|5000
|5000
|Maximum DC input current
|-
|idcmin
|A
| -5000
|0
| -5000
|Maximum DC output current (regen)
|-
|throtmax
|%
|0
|100
|100
|Throttle limit
|-
|throtmin
|%
| -100
|0
| -100
|Throttle regen limit
|-
|ifltrise
|dig
|0
|32
|10
|Controls how quickly slip and amplitude recover. The greater the value, the slower
|-
|ifltfall
|dig
|0
|32
|3
|Controls how quickly slip and amplitude are reduced on over current. The greater the value, the slower
|-
| colspan="6" |'''Charger'''
|-
|chargemode
|
|0
|4
|0
|0=Off, 3=Boost, 4=Buck
|-
|chargecur
|
|0
|50
|0
|Charge current setpoint. Boost mode: charger INPUT current. Buck mode: charger output current
|-
|chargekp
|
|0
|100
|80
|Charge controller proportional gain. Lower if you have oscillation, raise to get best power factor.
|-
|chargeki
|
|0
|100
|10
|Charge controller integral gain.
|-
|chargeflt
|
|0
|10
|8
|Charge current filtering. Raise if you have oscillations
|-
|chargepwmin
|%
|0
|99
|0
|Lowest charge mode duty cycle. This is needed for synchronous converters like in the Prius Gen2 where the lower IGBT is also active in buck mode and actually boosts the battery voltage into the bus capacitor when duty cycle is low.
|-
|chargepwmax
|%
|0
|99
|90
|Charge mode duty cycle limit. Especially in boost mode this makes sure you don't overvolt you IGBTs if there is no battery connected.
|-
| colspan="6" |'''Throttle'''
|-
|potmin
|dig
|0
|4095
|0
|Value of "pot" when pot isn't pressed at all
|-
|potmax
|dig
|0
|4095
|4095
|Value of "pot" when pot is pushed all the way in
|-
|pot2min
|dig
|0
|4095
|4095
|Value of "pot2" when regen pot is in 0 position
|-
|pot2max
|dig
|0
|4095
|4095
|Value of "pot2" when regen pot is in full on position
|-
|potmode
|
|0
|2
|0
|0=Pot 1 is throttle and pot 2 is regen strength preset
1=Pot 2 is proportional to pot 1 (redundancy)

2=Throttle/regen controlled via CAN (like 0)

3=Throttle via CAN with redundancy (like 1)
|-
|throtramp
|%/10ms
|0
|100
|100
|Max positive throttle slew rate
|-
|throtramprpm
|rpm
|0
|20000
|20000
|No throttle ramping above this speed
|-
|ampmin
|%
|0
|100
|10
|Minimum relative sine amplitude (only "sine" software)
|-
|slipstart
|%
|10
|100
|50
|% positive throttle travel at which slip is increased (only "sine" software)
|-
|throtcur
|A/%
| -10
|10
|1
|Motor current per % of throttle travel (only "FOC" software)
|-
| colspan="6" |'''Regen'''
|-
|brknompedal
|%
| -100
|0
| -50
|Foot on brake pedal regen torque
|-
|regenramp
|%/10ms
|0.1
|100
|100
|Ramp speed when entering regen. E.g. when you set brkmax to 30% and regenramp to 1, it will take 300ms to arrive at brake force of -60%
|-
|brknom
|%
|0
|100
|30
|Range of throttle pedal travel allocated to regen
|-
|brkmax
|%
|0
|100
|30
|Foot-off throttle regen torque
|-
|brkcruise
|%
| -100
|0
| -30
|Maximum regen of cruise control
|-
|brkrampstr
|Hz
|0
|400
|10
|Below this frequency the regen torque is reduced linearly with the frequency
|-
|brkout
|%
| -100
| -1
| -50
|Activate brake light output at this amount of braking force
|-
| colspan="6" |'''Automation'''
|-
|idlespeed
|rpm
| -100
|1000
| -100
|Motor idle speed. Set to -100 to disable idle function. When idle speed controller is enabled, brake pedal must be pressed on start.
|-
|idlethrotlim
|%
|0
|100
|50
|Throttle limit of idle speed controller
|-
|idlemode
|
|0
|1
|0
|Motor idle speed mode. 0=always run idle speed controller, 1=only run it when brake pedal is released, 2=like 1 but only when cruise switch is on
|-
|speedkp
|Hz
|0
|100
|1
|Speed controller gain (Cruise and idle speed). Decrease if speed oscillates. Increase for faster load regulation
|-
|speedflt
|dig
|0
|16
|1
|Filter before cruise controller
|-
|cruisemode
|
|0
|1
|0
|0=button (set when button pressed, reset with brake pedal), 1=switch (set when switched on, reset when switched off or brake pedal)
|-
| colspan="6" |'''Contactor Control'''
|-
|udcsw
|V
|0
|1000
|330
|Voltage at which the DC contactor is allowed to close
|-
|udcswbuck
|V
|0
|1000
|540
|Voltage at which the DC contactor is allowed to close in buck charge mode
|-
|tripmode
|
|0
|2
|0
|What to do with relays at a shutdown event. 0=All off, 1=Keep DC switch closed, 2=close precharge relay
|-
|bootprec
|
|0
|1
|0
|Engage precharge relay in boot loader. Introduced for enabling Prius Gen3 DC/DC converter when precharge relay is released. Use together with tripmode=2
|-
| colspan="6" |'''Auxillary PWM'''
|-
|pwmfunc
|
|0
|2
|0
|Quantity that controls the PWM output. 0=tmpm, 1=tmphs, 2=speed
|-
|pwmgain
|dig/C
|0
|65535
|100
|Gain of PWM output
|-
|pwmofs
|dig
| -65535
|65535
|0
|Offset of PWM output, 4096=full on
|-
| colspan="6" |'''Communication'''
|-
|canspeed
|
|0
|3
|0
|Baud rate of CAN interface 0=250k, 1=500k, 2=800k, 3=1M
|-
|canperiod
|
|0
|1
|0
|0=send configured CAN messages every 100ms, 1=every 10ms
|-
|nodeid
|
|1
|63
|1
|Node ID for CAN SDO messages and for selective enabling of UART when sharing one ESP8266 module between multiple processors.
|-
| colspan="6" |'''Testing'''
|-
|fslipspnt
|Hz
| -100
|100
|0
|Slip setpoint in mode 2. Written by software in mode 1
|-
|ampnom
|%
|0
|100
|0
|Nominal amplitude in mode 2. Written by software in mode 1
|}

== Spot values ==
The following values are available for diagnostic purposes. Type
get
to get the current value. To read more then one you can provide a list like
get il1,il2,udc
{| class="wikitable"
|'''Name'''
|'''Unit'''
|'''Description'''
|-
|version
|
|Firmware version
|-
|hwver
|
|Hardware version
|-
|opmode
|
|Operating mode. 0=Off, 1=Run, 2=Manual_run, 3=Boost, 4=Buck, 5=Sine, 6=2 Phase sine
|-
|lasterr
|
|Last error message
|-
|udc
|V
|DC link voltage
|-
|uac
|V
|Calculated AC voltage
|-
|idc
|A
|Calculated DC current
|-
|il1
|A
|AC current L1
|-
|il2
|A
|AC current L2
|-
|il1rms
|A
|RMS current L1
|-
|il2rms
|A
|RMS current L2
|-
|ilmax
|A
|Calculated max of il1, il2, il3
|-
|boostcalc
|A
|DC link adjusted boost setting
|-
|fweakcalc
|A
|DC link adjusted fweak setting
|-
|fstat
|Hz
|Stator frequency
|-
|speed
|rpm
|Motor speed
|-
|cruisespeed
|rpm
|Motor RPM set point for cruise control if cruisemode=CAN
|-
|turns
|
|Number of turns the motor completed since power up
|-
|amp
|dig
|Sine amplitude, 37813=max
|-
|angle
|°
|Motor rotor angle, 0-360°. When using the SINE software, the slip is added to the rotor position.
|-
|pot
|dig
|Pot value, 4095=max
|-
|pot2
|dig
|Regen Pot value, 4095=max
|-
|potnom
|%
|Scaled pot value, 0 accel
|-
|dir
|
|Rotation direction. -1=REV, 0=Neutral, 1=FWD
|-
|tmphs
|°C
|Heatsink temperature
|-
|tmpm
|°C
|Motor temperature
|-
|uaux
|V
|Auxiliary voltage (i.e. 12V system). Measured on pin 11 (mprot)
|-
|pwmio
|
|raw state of PWM outputs at power up
|-
|canio
|
|Digital IO bits received via [[CAN communication#Controlling Digital IO via CAN|CAN]]
|-
|din_cruise
|
|Cruise Control. This pin activates the cruise control with the current speed. Pressing again updates the speed set point.
|-
|din_start
|
|State of digital input "start". This pin starts inverter operation
|-
|din_brake
|
|State of digital input "brake". This pin sets maximum regen torque (brknompedal). Cruise control is disabled.
|-
|din_mprot
|
|State of digital input "motor protection switch". Shuts down the inverter when =0
|-
|din_forward
|
|Direction forward
|-
|din_reverse
|
|Direction backward
|-
|din_emcystop
|
|State of digital input "emergency stop". Shuts down the inverter when =0
|-
|din_ocur
|
|Over current detected
|-
|din_bms
|
|BMS over voltage/under voltage
|-
|cpuload
|%
|CPU load for everything except communication
|}

== Tuning Guide ==
First you want to find a flat surface - a parking lot etc. so you can drive and stop without checking traffic. Change only one parameter at a time and save settings that work!

1. set fslipmin so that you feel car taking off smoothly and try to change it by +/-0,1Hz and check differences in starting. Save when satisfied.

2. lower boost value in 100 point until motor jitters at start. Then return it to last good value.

3. try lowering ampmin in 0,1 increments and observe throttle travel. When throttle is not just smooth but becomes sluggish return some previous increments until throttle reaction is acceptable.

4. change fweak value in +/-10Hz increments from starting point and observe torque in starting. This value is very dependent on battery voltage and is very subjective.

Now you find a hill or ramp and set car on it. You want to hold car in position on slope just using throttle pedal. If there parameters are not good motor will jump or will feel sluggish

1. add boost if motor is oscillating if it is smooth reduce it in 100 point increments until you get oscillation. Then return to last good value

2. reduce/increase ampmin in 0,25 increments untill you get oscilation in motor and return last good value

Now set the car into a hill to set fslipmax. Warning full throttle will be used. Be sure there is no other traffic!

Set fslipmax to chosen value (guess it at 2xfslipmin if you have no other way) and try to take off with full throttle.

If car feels sluggish with full throttle you have to add more slip.

If motor starts to jitter there is too much slip. Try to reduce it in 0.1Hz increments.

When you feel satisfied with settings save them and go on setting regen and braking effect.

BMW I3 Fast Charging LIM Module

2021-09-28T00:57:01Z

Jon volk: /* Connectors and Pinouts */

The BMW LIM module is a CCS, CHAdeMO and AC charging controller. It is used to communicate between the vehicle and the public charging infrastructure, to allow fast charging to occur.

As these can be found affordably on eBay and from auto wreckers, they have been pursued as an open-source charger-interface project.

==External links==
[https://openinverter.org/forum/viewtopic.php?t=1196 Forum discussion]

[https://github.com/damienmaguire/BMW-i3-CCS github.com/damienmaguire/BMW-i3-CCS]

> [https://github.com/damienmaguire/BMW-i3-CCS/tree/main/CAN_Logs CAN logs]

> [https://github.com/damienmaguire/Stm32-vcu/blob/ACDC_LIM/src/i3LIM.cpp STM32 VCU software]

> [https://github.com/damienmaguire/BMW-i3-CCS/blob/main/i3_LIM_dbc1.dbc I3 LIM CAN dbc1]

[https://openinverter.org/forum/download/file.php?id=9509 BMW I3 HV components]

[http://tesla.o.auroraobjects.eu/Design_Guide_Combined_Charging_System_V3_1_1.pdf Design Guide for Combined Charging System (2015)]

== LIM versions ==
Only AC_DCO versions work for CCS. (Check if you have a MAC address on the label!)
{| class="wikitable"
|+LIM versions
!SN
!IEC 61851
J1772 (AC)
!DIN 70121
!ISO 15118
!ISO 15118-20
!Cars
!Used until
!Tested
|-
|61 35 9 346 827
|x
|x
|
|
|BMW i3
|
|
|-
|61 35 9 346 820
|x
|x
|
|
|BMW i3
|
|
|-
|61 35 9 353 646
|x
|x
|
|
|BMW i3
|Jul 2014
|x
|-
|61 35 9 380 352
|x
|x
|?
|
|BMW i3
|Nov 2015
|
|-
|61 35 6 805 847
|x
|x
|?
|
|BMW i3
|Jul 2016
|
|-
|61 35 9 494 498
|x
|x
|?
|
|BMW i3
|2018?
|x
|-
|61 35 9 470 199
|x
|x
|?
|
|BMW i3
|?
|
|-
|61 35 9 454 319
|x
|x
|x
|?
|BMW i3
Mini cooper SE
|now
|
|}
The LIM's are available new from BMW spare parts suppliers for € 240 but there might be some programming/codeing necessary before the unit behaves like the ones used during development of the solution.

=== Power Limits ===
The limits for pre 2017/26 (Week 26 of 2017) are 0V-500V 0A-250A, post 2017/27 (Week 27 of 2017) 0V-1000V -500A-+500A.

This probably indicates when they moved from DIN 70121 only to ISO 15118.

==Connectors and Pinouts==

[[File:BMW_I3_CCS_Labelled.png|thumb|BMW i3 LIM CCS Charging Module]]All connectors are available at https://www.auto-click.co.uk/ worldwide.
{| class="wikitable"
|+Connector Key (left to right)
!Label
!Description
!Compatible Plugs
|-
|4B
|12 Pin Connector
|BMW 61138373632
Audi 4E0 972 713

TE 1534152-1 / 1534151-1
|-
|3B
| 8 Pin Connector (CHAdeMO models only)
|BMW 61138364624

Audi 4F0 972 708

TE 1-1534229-1
|-
| 1B
|16 Pin Connector
|Hirschmann 805-587-545
|-
|2B
|6 Pin Connector
| BMW 61138383300
Audi 7M0 973 119

TE 1-967616-1
|-
|X
| Replacement Pins
|5-962885-1
|-
|X
|Rubber Seal
|1-967067-1
|}
[[File:CCS setup LIM 2-03.png|none|thumb|800x800px|LIM pinout]]
{| class="wikitable"
|+
1B Pinout:
!Pin #
!Function
!Description
|-
|1B-1
| -
|
|-
|1B-2
|<nowiki>-</nowiki>
|
|-
|1B-3
|LED_M
|Lighting Charge Socket? (Not necessary)
|-
|1B-4
|LOCK_MOT+
|Charge Inlet Lock Motor
|-
|1B-5
|LOCK_MOT-
|Charge Inlet Lock Motor
|-
|1B-6
| CAN_H
|Powertrain CAN
|-
| 1B-7
|CAN_L
|Powertrain CAN
|-
|1B-8
|IGN
|Wake up signal +12V (ignition, contact 15)
|-
|1B-9
|VCC
|Constant Power +12V
|-
|1B-10
|GND
|Ground
|-
|1B-11
|<nowiki>-</nowiki>
|
|-
|1B-12
|<nowiki>-</nowiki>
|
|-
|1B-13
| -
|
|-
|1B-14
| -
|Internally connected to GND
|-
|1B-15
|CHARGE_E
|Goes to KLE. Guessing this is charge enable or drive interlock signal?
|-
|1B-16
|LOCK_FB
|Charge Inlet Lock Feedback (1k unlocked, 11k locked)
|}
{| class="wikitable"
|+2B Pinout:
!Pin #
!Function
!Description
|-
|2B-1
|CP
|Pilot (Charge Inlet)
|-
|2B-2
|PP
|Proxy (Charge Inlet)
|-
|2B-3
|Jumper
|Connected to Pin 4
|-
|2B-4
|Jumper
|Connected to Pin 3
|-
|2B-5
|GND
|Ground (Charge Inlet)
|-
|2B-6
|
|US CCS1 version connected to 2B-2
|}

3B Pinout:

- N/A (for CHAdeMO only)
{| class="wikitable"
|+4B Pinout:
! Pin #
!Function
!Description
|-
|4B-1
| POS_CONT+
|Positive HV Contactor Control (Contactor coil resistance needs to be ~15 ohms)
|-
|4B-2
|NEG_CONT+
|Negative HV Contactor Control
|-
|4B-3
|POS_CONT-
|Positive HV Contactor Control
|-
|4B-4
|NEG_CONT-
|Negative HV Contactor Control
|-
|4B-5
|U_HV_DC
|Charge Inlet DC Voltage (current input 3-20mA?)
|-
|4B-6
|LED_RT
|Red charge Status Light (12V RGB LED)
|-
|4B-7
|LED_GN
|Green charge Status Light (12V RGB LED)
|-
|4B-8
|LED_BL
|Blue charge Status Light (12V RGB LED)
|-
|4B-9
|LED_GND
|Charge Status Light Ground (common cathode of RGB LED)
|-
|4B-10
|COV_MOT-
|Charge Inlet Cover Motor (Not necessary)
|-
|4B-11
|COV_MOT+
|Charge Inlet Cover Motor (Not necessary)
|-
|4B-12
|COV_FB
|Charge Inlet Cover Feedback (connect to GND to simulate open cover)
|}

Connector for BMW i3 CCS plug locking actuator is BMW part number 12527549033. Pins and seals should be the same as used on the LIM module.

== Wiring Diagram ==
[[File:CCS setup LIM-01.png|thumb|1000x1000px|alt=|Wiring LIM electric vehicle charge controller|none]]

== Required CAN messages ==
A DBC CAN database file can be found here: [https://github.com/damienmaguire/BMW-i3-CCS/blob/main/i3_LIM_dbc1.dbc I3 LIM CAN dbc1]

This list has to be cleaned up once we know which messages are actually necessary for the LIM.
{| class="wikitable"
|+Power Train CAN messages [500kbps]
!ID
!Function
!interval
!Notes
|-
|0x112
|BMS msg.
|10ms
|
|-
|0x1A1
|Vehicle speed
|20ms
|
|-
|0x3E9
|Main LIM control
|200ms
|
|-
|0x431
|Battery info
|200ms
|needed but does not control anything
|-
|0x03C
|Vehicle status
|200ms
|
|-
|0x2A0
|Central locking
|200ms
|
|-
|0x397
|OBD
|200ms
|
|-
|0x3F9
|Engine info
|200ms
|Rex?
|-
|0x3A0
|Vehicle condition
|200ms
|
|-
|0x330
|Range info
|200ms
|
|-
|0x432
|BMS SoC
|200ms
|
|-
|0x51A
|Network management
|200ms
|
|-
|0x540
|Network management 2
|200ms
|
|-
|0x512
|Network management edme
|200ms
|
|-
|0x560
|Network management kombi
|200ms
|
|-
|0x510
|Network management zgw
|200ms
|
|-
|0x328
|Counter
|1s
|
|-
|0x3E8
|OBD reset
|1s
|
|-
|0x2FA
|Lim DC charge command 3.
|1s
|
|-
|0x12F
|Wake up
|100ms
|
|-
|0x2FC
|Charge flap control
|100ms
|
|-
|0x2F1
|Lim DC charge command 2.
|100ms
|}

== LIM peripheral boards ==

=== Isolated DC charge inlet voltage sense board ===
The LIM gets the inlet DC voltage from a board in the KLE.

This board needs to produce an isolated 3-20mA current signal from the high voltage DC voltage.
[[File:Voltage measure board.jpg|none|thumb|isolated DC Voltage sense board by muehlpower]]

=== Large fast charging contactor control board ===
The LIM produces a 12V, 50% PWM on the pos and neg fast charging contactor outputs and measures the current draw of the contactors.

This makes it a bit harder to use different contactors.

The easiest option is to place a +/-20 watt 15 ohms (wire wound) resistor in parallel to simulate the original contactor coil and a small relais to drive a large Gigavac contactor with internal PWM economizer or dual coil.

Further investigation is needed to find out if the LIM also detects a contactor failure from the current draw.

=== Duosida inlet lock feedback ===
The i3 uses a quite expensive Phoenix CCS inlet and it would be nice to be able to use the cheaper Duosida CCS inlets.

The charge inlet lock should work with the Duosida lock as well but the feedback (1k unlocked, 11k locked) is a bit different which requires some additional resistors.
[[File:CCS setup LIM 2-02.png|none|thumb|CCS inlet lock]]

=== RGB charge indication light ===
The RGB charge indicator LED should have a common cathode and series resistors for 12V DC.

Nice push buttons with integrated RGB led are available on [https://nl.aliexpress.com/item/4000437597282.html Aliexpress] for a few dollars.

The switch signal is useful to stop charging and has to be connected to the ECU. The ECU then terminates the charging process over the CAN bus.
[[File:RGB LED common cathode.png|none|thumb|243x243px|RGB LED]]

== CCS charging sequence ==
[https://www.researchgate.net/profile/Ali-Bahrami-12/publication/338586995/figure/fig4/AS:925252242636800@1597608733638/CCS-Charging-sequence.jpg CCS-Charging-sequence.jpg]

This document actually covers Fast and Smart Charging Solutions for Full Size Urban Heavy Duty Applications but since most of the protocols used are similar it has comparable sequence diagrams with description for '''normal start up''', '''normal shutdown''', '''DC supply initiated emergency''' '''stop''' and '''EV initiated emergency stop'''.

https://assured-project.eu/storage/files/assured-10-interoperability-reference.pdf

== Observations ==
VIN Numbers is not required for AC or DC fast charging to function

Functional LIMs have come from vehicles where the Air Bags have deployed, indicating that the module still works after a "Safety" event has occurred.

== LIM board components ==
{| class="wikitable"
|+components
!Chip
!Description
!Function
!Datasheet
|-
|Renesas V850E2/FG4
|32-bit Single-Chip Microcontroller
|main MCU
|https://www.renesas.com/us/en/document/dst/data-sheet-v850e2fg4
|-
|Qualcomm QCA7000
|HomePlug® Green PHY, single chip solution
|PLC Green PHY
|https://openinverter.org/forum/download/file.php?id=9611
|-
|Infineon TLE 7263E
|Integrated HS-CAN, LIN, LDO and HS Switch, System Basis Chip
|CAN, 2xLDO, wake-up
|https://docs.rs-online.com/db13/0900766b814d680b.pdf
|-
|TI SN74LVC2T45-Q1
|Dual-Bit Dual Supply Transceiver with Configurable Voltage Translation
|
|https://www.ti.com/lit/gpn/sn74lvc2t45-q1
|-
|NXP 74LVC1T45
|Dual supply translating transceiver
|
|https://datasheetspdf.com/pdf-file/648034/NXP/74LVC1T45/1
|-
|STM L9951XP
|Actuator driver
|inlet lock motor
|https://www.st.com/resource/en/datasheet/l9951.pdf
|-
|STM TS321
|Low-Power Single Operational Amplifier
|
|https://www.ti.com/lit/gpn/ts321
|-
|TI LM2902
|Quadruple general-purpose operational amplifier
|
|https://www.ti.com/lit/gpn/lm2902
|-
|STM VNQ5E250AJ-E
|Quad channel high-side driver with analog current sense
|LEDs?, contactors?
|https://www.st.com/resource/en/datasheet/vnq5e250aj-e.pdf
|}
*

Configuration Files

2019-12-08T19:10:52Z

Jon volk: /* Tesla LDU Jon Volk */

This page contains a selection of known motor and inverter configurations. To use a configuration, copy and paste the respective highlighted json code and save it into a file that ends in .json.

To add a new configuration, log in (same as forum login) and use the "Edit source" tab above. See the existing configurations as a template.

==== E-Polo ====
* Motor: Lenze MFEMAXX 360Vac@120Hz
* DC voltage: 500V
<div class="toccolours mw-collapsible mw-collapsed" style="width:400px; overflow:auto;">
<syntaxhighlight lang="json">
{
"boost": 2200,
"fweak": 100,
"fconst": 160,
"udcnom": 500,
"fslipmin": 1.5,
"fslipmax": 3.59,
"fslipconstmax": 6,
"polepairs": 2,
"respolepairs": 1,
"encmode": 0,
"fmin": 0.5,
"fmax": 220,
"numimp": 30,
"dirchrpm": 100,
"dirmode": 1,
"syncofs": 0,
"snsm": 12,
"pwmfrq": 1,
"pwmpol": 0,
"deadtime": 63,
"ocurlim": 250,
"minpulse": 1000,
"il1gain": 4.5,
"il2gain": 4.5,
"udcgain": 5.56,
"udcofs": 0,
"udclim": 1000,
"snshs": 0,
"bmslimhigh": 60,
"bmslimlow": -40,
"udcmin": 400,
"udcmax": 525,
"iacmax": 190,
"idcmax": 110,
"idcmin": -40,
"throtmax": 100,
"ifltrise": 12,
"ifltfall": 2,
"chargemode": 3,
"chargecur": 12,
"chargekp": 10,
"chargeflt": 10,
"chargemax": 60,
"potmin": 12,
"potmax": 4095,
"pot2min": 602,
"pot2max": 3100,
"potmode": 0,
"throtramp": 20,
"throtramprpm": 20000,
"ampmin": 10,
"slipstart": 50,
"brknompedal": -77,
"brkpedalramp": 1,
"brknom": 20,
"brkmax": -50,
"brkrampstr": 15,
"brkout": -50,
"idlespeed": 300,
"idlethrotlim": 50,
"idlemode": 2,
"speedkp": 0.15,
"speedflt": 5,
"cruisemode": 1,
"udcsw": 460,
"udcswbuck": 540,
"tripmode": 0,
"pwmfunc": 0,
"pwmgain": 45,
"pwmofs": -2100,
"canspeed": 0,
"canperiod": 0,
}
</syntaxhighlight></div>

==== Nissan Leaf Motor ====
* Using FOC software
<div class="toccolours mw-collapsible mw-collapsed" style="width:400px; overflow:auto;">
<syntaxhighlight lang="json">
{
"curkp": 64,
"curki": 32,
"fwkp": 100,
"dofsramp": 5,
"frqfac": 70,
"dmargin": -2000,
"polepairs": 4,
"respolepairs": 4,
"encmode": 4,
"fmax": 550,
"dirchrpm": 100,
"dirmode": 1,
"syncofs": 0,
"syncadv": 10,
"snsm": 14,
"pwmfrq": 1,
"pwmpol": 1,
"deadtime": 78,
"ocurlim": 600,
"il1gain": 1.71,
"il2gain": 1.71,
"udcgain": 5.78,
"udcofs": 250,
"udclim": 540,
"snshs": 2,
"pinswap": 4,
"bmslimhigh": 50,
"bmslimlow": -1,
"udcmin": 0,
"udcmax": 520,
"idcmax": 200,
"idcmin": -50,
"throtmax": 100,
"chargemode": 3,
"chargecur": 14,
"chargekp": 10,
"chargeflt": 10,
"chargemax": 83.5,
"potmin": 950,
"potmax": 4095,
"pot2min": 4095,
"pot2max": 4095,
"potmode": 2,
"throtramp": 1,
"throtramprpm": 20000,
"throtcur": 4,
"brknompedal": -30,
"regenramp": 1,
"brknom": 20,
"brkmax": -15,
"brkrampstr": 15,
"brkout": -50,
"idlespeed": 500,
"idlethrotlim": 60,
"idlemode": 3,
"speedkp": 0.21,
"speedflt": 5,
"cruisemode": 0,
"udcsw": 300,
"udcswbuck": 540,
"tripmode": 0,
"canspeed": 1,
"canperiod": 0
}</syntaxhighlight></div>

==== DMOC with Siemens 1PV5135 ====
<div class="toccolours mw-collapsible mw-collapsed" style="width:400px; overflow:auto;">
<syntaxhighlight lang="json">
{
"boost": "3600",
"fweak": "140",
"fpconst": "400",
"fslipmin": "1.68",
"fslipmax": "3.5",
"polepairs": "2",
"ampmin": "5",
"encflt": "4",
"fmin": "0.5",
"fmax": "200",
"pwmfrq": "1",
"pwmpol": "0",
"deadtime": "50",
"numimp": "64",
"potmin": "640",
"potmax": "3850",
"pot2min": "4095",
"pot2max": "4095",
"idlespeed": "-100",
"idlethrotlim": "50",
"idlemode": "0",
"speedkp": "0.12",
"speedflt": "1",
"cruisemode": "0",
"bmslimhigh": "50",
"bmslimlow": "-1",
"brknompedal": "-25",
"brknom": "1",
"brkmax": "1",
"brkrampstr": "10",
"udcsw": "390",
"udcmin": "150",
"udcmax": "520",
"udclim": "1000",
"ocurlim": "-400",
"minpulse": "1000",
"il1gain": "-4.65",
"il2gain": "-4.65",
"udcgain": "3.78",
"pwmfunc": "0",
"pwmgain": "100",
"pwmofs": "0",
"speedgain": "6000",
"snshs": "0",
"snsm": "3",
"fslipspnt": "-1.68",
}</syntaxhighlight></div>

==== Fleck Elektroauto ACIM AKOE 132 2.2.100024 28KW motor custom wound for 180VRMS www.fleck-elektroauto.de ====
<div class="toccolours mw-collapsible mw-collapsed" style="width:400px; overflow:auto;">
<syntaxhighlight lang="json">
{
"boost": 7000,
"fweak": 150,
"udcnom": 325,
"fpconst": 75,
"fslipmin": 3,
"fslipmax": 6.8,
"polepairs": 2,
"encflt": 3,
"encmode": 1,
"fmin": 0,
"fmax": 240,
"imax": 400,
"numimp": 64,
"dirchrpm": 100,
"syncofs": 0,
"snsm": 13,
"pwmfrq": 1,
"pwmpol": 0,
"deadtime": 185,
"ocurlim": -700,
"tripmode": 0,
"minpulse": 1000,
"il1gain": -2,
"il2gain": -2,
"udcgain": 3,
"udcofs": 0,
"udclim": 430,
"snshs": 0,
"chargemode": 0,
"chargecur": 0,
"chargekp": 80,
"chargeflt": 8,
"chargemax": 90,
"potmin": 980,
"potmax": 4090,
"pot2min": 1850,
"pot2max": 4090,
"potmode": 0,
"throtramp": 10,
"throtramprpm": 2000,
"ampmin": 21,
"slipstart": 50,
"brknompedal": -30,
"brkpedalramp": 1,
"brknom": 0,
"brkmax": 25,
"brkrampstr": 50,
"brkout": -1,
"idlespeed": 500,
"idlethrotlim": 16,
"idlemode": 2,
"speedkp": 0.18,
"speedflt": 5,
"cruisemode": 0,
"bmslimhigh": 60,
"bmslimlow": -1,
"udcmin": 305,
"udcmax": 420,
"udcsw": 320,
"udcswbuck": 360,
"pwmfunc": 0,
"pwmgain": -12,
"pwmofs": 1620,
"canspeed": 0,
"canperiod": 0,
"ifltrise": 10,
"ifltfall": 3,
"fslipspnt": 0,
"ampnom": 0
}</syntaxhighlight></div>

==== Tesla LDU Jon Volk ====
<div class="toccolours mw-collapsible mw-collapsed" style="width:400px; overflow:auto;">
<syntaxhighlight lang="json">
{
"boost": 1850,
"fweak": 258,
"fconst": 450,
"udcnom": 390,
"fslipmin": 0.87,
"fslipmax": 3.09,
"fslipconstmax": 9,
"fmin": 0.06,
"fmax": 540,
"numimp": 36,
"syncofs": 0,
"ocurlim": -2500,
"minpulse": 1000,
"udcofs": 0,
"udclim": 540,
"udcmin": 320,
"udcmax": 426,
"iacmax": 5000,
"idcmax": 5000,
"idcmin": -5000,
"throtmax": 100,
"ifltrise": 10,
"ifltfall": 0.09,
"potmin": 850,
"potmax": 4095,
"pot2min": 4095,
"pot2max": 4095,
"potmode": 0,
"throtramp": 5.87,
"throtramprpm": 20000,
"ampmin": .37,
"slipstart": 55,
"brknompedal": -55,
"regenramp": 3,
"brknom": 30,
"brkmax": -55,
"brkrampstr": 40,
"brkout": -10,
"idlespeed": 250,
"idlethrotlim": 50,
"idlemode": 1,
"speedkp": 0.12,
"speedflt": 5,
"cruisemode": 0,
"udcsw": 280,
"udcswbuck": 540,
"tripmode": 0,
"pwmfunc": 0,
"pwmgain": 100,
"pwmofs": 0,
"canspeed": 0,
"canperiod": 0,
"fslipspnt": 0,
"ampnom": 0
}</syntaxhighlight></div>

==== Tesla SDU Marco ====
Missing the udcnom setting, which makes the motor parameters independent from actual DC voltage
<div class="toccolours mw-collapsible mw-collapsed" style="width:400px; overflow:auto;">
<syntaxhighlight lang="json">
{
"boost": 2200,
"fweak": 220,
"fconst": 800,
"udcnom": 0,
"fslipmin": 2,
"fslipmax": 6,
"fslipconstmax": 6,
"polepairs": 2,
"respolepairs": 1,
"encmode": 1,
"fmin": 1,
"fmax": 600,
"numimp": 36,
"dirchrpm": 100,
"dirmode": 1,
"syncofs": 0,
"snsm": 12,
"pwmfrq": 0,
"pwmpol": 0,
"deadtime": 63,
"ocurlim": -1200,
"minpulse": 1000,
"il1gain": -1.5,
"il2gain": -1.5,
"udcgain": 7.59,
"udcofs": 0,
"udclim": 450,
"snshs": 2,
"bmslimhigh": 90,
"bmslimlow": -100,
"udcmin": 330,
"udcmax": 460,
"iacmax": 800,
"idcmax": 500,
"idcmin": -500,
"throtmax": 100,
"ifltrise": 10,
"ifltfall": 0,
"chargemode": 0,
"chargecur": 0,
"chargekp": 80,
"chargeflt": 8,
"chargemax": 90,
"potmin": 460,
"potmax": 2370,
"pot2min": 4095,
"pot2max": 4095,
"potmode": 0,
"throtramp": 10,
"throtramprpm": 20000,
"ampmin": 5,
"slipstart": 40,
"brknompedal": -40,
"brkpedalramp": 1,
"brknom": 30,
"brkmax": -30,
"brkrampstr": 50,
"brkout": -100,
"idlespeed": -100,
"idlethrotlim": 50,
"idlemode": 0,
"speedkp": 1,
"speedflt": 5,
"cruisemode": 0,
"udcsw": 320,
"udcswbuck": 540,
"tripmode": 2,
"pwmfunc": 0,
"pwmgain": 100,
"pwmofs": 0,
"canspeed": 1,
"canperiod": 0,
"fslipspnt": 0,
"ampnom": 0
}</syntaxhighlight></div>

Parameters

2019-12-08T15:25:27Z

Jon volk: Added tuning guide Damien posted from Arbor333

The inverter can be adapted to many kinds of motors, battery packs and driver preferences by changing parameters.

== Motor Parameters ==
The parameters to adjust the inverter to the motor are boost, fweak, fslipmin, fslipmax, polepairs, fmin, fmax and numimp.

They can be deduced from the motors nameplate or by trying which feels best. For illustration we will assume a bus voltage of 500V and a 4-pole (p=2) motor with a nominal speed of n=1450rpm@f=50Hz and 230V. With 500V DC an AC voltage of 500/1.41=355V can be generated.

'''boost''' is the digital amplitude of the sine wave at motor startup. It is needed to overcome the motors ohmic resistance. Digital amplitude is an internal quantity. 0 means no voltage is generated at all, 37813 means the full possible voltage is generated.

Example: boost=1700

At full throttle an effective voltage of 1700/37813*355=16V is generated. The best way to find a feasible value is to optimize it in the finished car. Start with the default value and increase until you get a good startup.

'''fweak''' is the frequency at which the full possible voltage is generated. It is also the point of the highest motor power. Beyond fweak torque will decrease to the square of frequency and thus power will decrease linear with frequency.

A starting point for fweak is the motors nameplate:

<figure-inline class="mw-default-size"><figure-inline><figure-inline>[[File:Fweak.png|210x210px]]</figure-inline></figure-inline></figure-inline>

With our illustration motor fweak=355/230*50=77Hz. fweak can be configured lower than that resulting in more torque at the low end.

'''fslipmin'''/'''fslipmax''' is the slip frequency at which the motor is run at minimum/maximum throttle. fslipmin is set to the motors optimal slip frequency which can be deduced from the nameplate. fslipmin=f-p*n/60. With our illustration motor fslipmin=50-2*1450/60=1.66Hz. fslipmax can be set as high as breakdown torque which is not found on the nameplate. So its best found experimental starting with 2*fslipmin. If set too high the motor will start to rock violently on startup, possibly tripping the over current limit.

'''polepairs''' is set to p, 2 in our example.

'''fmin''' should be set just below fslipmin.

'''fmax''' is used to limit the speed of the motor. The default 200Hz would result in a maximum speed of about 6000rpm.

'''ampmin''' Is the minimum relative amplitude fed to the motor. At very low amplitudes the motor does not generate any noticable torque and throttle travel is wasted that does nothing. Find out a good value by experimenting.

== Inverter Parameters ==
'''pwmfrq''' Sets the frequency at which the IGBTs are switched on and off. The faster the switching the higher the losses in the inverter and the lower the losses in the motor. The maximum frequency is also limited by the driver boards as explained here.

'''pwmpol''' Sets the polarity of the PWM signals, active high or active low. Do not touch this parameter if you don't know what you're doing. When configured inversely it will blow up your power stage immediatly if connected to a potent power source like batteries.

'''deadtime''' The time between switching off one IGBT and switching on the other. 28=800ns, 63=1.5µs. More values can be found in the STM32 data sheet. Make sure to test the deadtime at low power levels. Setting the deadtime too low while operating of a potent power source can blow up your power stage!

== Parameter Reference ==
The following parameters currently exist to customize the controller software. Type
set
to change it. Type
get
to get the current value.

Parameters are internally stored with 5 binary fraction digits. That means there are 32 possible values after the decimal point. So when you set a value of 0.35 you might end up with 0.33.

{| class="wikitable"
|'''Name'''
|'''Unit'''
|'''Min'''
|'''Max'''
|'''Default'''
|'''Description'''
|-
| colspan="6" |'''Motor'''
|-
|boost
|dig
|0
|37813
|1700
|0 Hz Boost in digit. 1000 digit ~ 2.5%
|-
|fweak
|Hz
|0
|400
|67
|Frequency where V/Hz reaches its peak
|-
|udcnom
|V
|0
|1000
|0
|Nominal voltage for fweak and boost. fweak and boost are scaled to the actual dc voltage. 0=don't scale
|-
|fwkp
|
|0
|10000
|1
|Inverter MTPA (maximum torque per amp) gain
|-
|frqfac
|dig/Hz
| -10000
|10000
|10
|PI controller help to reach appropriate output at higher frequencies. 0=No Help
|-
|fpconst
|Hz
|0
|400
|400
|Frequency where slip frequency is derated to form a constant power region. Only has an effect when < fweak
|-
|fslipmin
|Hz
|0
|100
|1
|Slip frequency at minimum throttle
|-
|fslipmax
|Hz
|0
|100
|3
|Slip frequency at maximum throttle
|-
|polepairs
|
|1
|16
|2
|Pole pairs of motor (4-pole motor: 2 pole pairs)
|-
|respolepairs
|
|1
|16
|1
|Pole pairs of resolver
|-
|encflt
|
|0
|16
|4
|Filter constant between pulse encoder and speed calculation. Makes up for slightly uneven pulse distribution
|-
|encmode
|
|0
|4
|0
|0=single channel encoder, 1=quadrature encoder,
2=quadrature /w index pulse,
3=SPI (deprecated)
4=Resolver
|-
|fmin
|Hz
|0
|400
|1
|Below this frequency no voltage is generated
|-
|fmax
|Hz
|0
|400
|200
|At this frequency slip is commanded 0 to avoid further acceleration
|-
|numimp
|Imp/rev
|8
|8192
|60
|Pulse encoder pulses per turn
|-
|dirchrpm
|rpm
|0
|2000
|100
|Motor speed at which direction change is allowed
|-
|dirmode
|
|0
|1
|1
|0=button (momentary pulse selects forward/reverse), 1=switch (forward or reverse signal must be constantly high)
|-
|syncofs
|dig
|0
|65535
|0
|Phase shift of sine wave after receiving index pulse
|-
|syncadv
|dig/Hz
| -100
|100
|0
|Shifts "syncofs" downwards/upwards with frequency
|-
|snsm
|
|2
|3
|2
|Motor temperature sensor. 2=KTY83, 3=KTY84
|-
| colspan="6" |'''Inverter'''
|-
|pwmfrq
|
|0
|3
|2
|PWM frequency. 0=17.6kHz, 1=8.8kHz, 2=4.4kHz, 3=2.2kHz. Needs PWM restart
|-
|pwmpol
|
|0
|1
|0
|PWM polarity. 0=active high, 1=active low. DO NOT PLAY WITH THIS!
Needs PWM restart
|-
|deadtime
|dig
|0
|255
|28
|Deadtime between highside and lowside pulse. 28=800ns, 56=1.5µs. Not always linear, consult STM32 manual. Needs PWM restart
|-
|ocurlim
|A
| -65535
|65535
|100
|Hardware over current limit. RMS-current times sqrt(2) + some slack
|-
|minpulse
|dig
|0
|4095
|1000
|Narrowest or widest pulse, all other mapped to full off or full on, respectively
|-
|il1gain
|dig/A
|0
|4095
|4.7
|Digits per A of current sensor L1
|-
|il2gain
|dig/A
|0
|4095
|4.7
|Digits per A of current sensor L2
|-
|udcgain
|dig/V
|0
|4095
|6.15
|Digits per V of DC link
|-
|udcofs
|dig
|0
|4095
|0
|DC link 0V offset
|-
|udclim
|V
|0
|1000
|540
|High voltage at which the PWM is shut down
|-
|snshs
|
|0
|1
|0
|Heatsink temperature sensor. 0=JCurve, 1=Semikron
|-
| colspan="6" |'''Derating'''
|-
|bmslimhigh
|%
|0
|100
|50
|Positive throttle limit on BMS under voltage
|-
|bmslimlow
|%
| -100
|0
| -1
|Regen limit on BMS over voltage
|-
|udcmin
|V
|0
|1000
|450
|Minimum battery voltage
|-
|udcmax
|V
|0
|1000
|520
|Maximum battery voltage
|-
|iacmax
|A
|0
|5000
|5000
|Maximum peak AC current
|-
|ifltrise
|dig
|0
|32
|10
|Controls how quickly slip and amplitude recover. The greater the value, the slower
|-
|ifltfall
|dig
|0
|32
|3
|Controls how quickly slip and amplitude are reduced on over current. The greater the value, the slower
|-
|idcmax
|A
|0
|5000
|5000
|Maximum DC input current
|-
|idcmin
|A
| -5000
|0
| -5000
|Maximum DC output current (regen)
|-
|throtmax
|%
|0
|100
|100
|Throttle limit
|-
| colspan="6" |'''Charger'''
|-
|chargemode
|
|0
|4
|0
|0=Off, 3=Boost, 4=Buck
|-
|chargecur
|
|0
|50
|0
|Charge current setpoint. Boost mode: charger INPUT current. Buck mode: charger output current
|-
|chargekp
|
|0
|100
|80
|Charge controller gain. Lower if you have oscillation, raise if current set point is not met
|-
|chargeflt
|
|0
|10
|8
|Charge current filtering. Raise if you have oscillations
|-
|chargemax
|%
|0
|99
|90
|Charge mode duty cycle limit. Especially in boost mode this makes sure you don't overvolt you IGBTs if there is no battery connected.
|-
| colspan="6" |'''Throttle'''
|-
|potmin
|dig
|0
|4095
|0
|Value of "pot" when pot isn't pressed at all
|-
|potmax
|dig
|0
|4095
|4095
|Value of "pot" when pot is pushed all the way in
|-
|pot2min
|dig
|0
|4095
|4095
|Value of "pot2" when regen pot is in 0 position
|-
|pot2max
|dig
|0
|4095
|4095
|Value of "pot2" when regen pot is in full on position
|-
|potmode
|
|0
|2
|0
|0=Pot 1 is throttle and pot 2 is regen strength preset,
1=Pot 2 is proportional to pot 1 (redundance)
2=Throttle controlled via CAN
|-
|throtramp
|%/10ms
|0
|100
|100
|Max positive throttle slew rate
|-
|throtramprpm
|rpm
|0
|20000
|20000
|No throttle ramping above this speed
|-
|ampmin
|%
|0
|100
|10
|Minimum relative sine amplitude
|-
|slipstart
|%
|10
|100
|50
|% positive throttle travel at which slip is increased
|-
| colspan="6" |'''Regen'''
|-
|brknompedal
|%
| -100
|0
| -50
|Foot on break pedal regen torque
|-
|brkpedalramp
|%/10ms
|1
|100
|100
|Ramp speed when entering regen. E.g. when you set brkmax to 20% and brkpedal to -60% and brkpedalramp to 1, it will take 400ms to arrive at brake force of -60%
|-
|brknom
|%
|0
|100
|30
|Regen padel travel
|-
|brkmax
|%
|0
|100
|30
|Foot-off regen torque
|-
|brkout
|%
| -100
| -1
| -50
|Activate brake light output at this amount of braking force
|-
|brkrampstr
|Hz
|0
|400
|10
|Below this frequency the regen torque is reduced linearly with the frequency
|-
| colspan="6" |'''Automation'''
|-
|idlespeed
|rpm
| -100
|1000
| -100
|Motor idle speed. Set to -100 to disable idle function. When idle speed controller is enabled, brake pedal must be pressed on start.
|-
|idlethrotlim
|%
|0
|100
|50
|Throttle limit of idle speed controller
|-
|idlemode
|
|0
|1
|0
|Motor idle speed mode. 0=always run idle speed controller, 1=only run it when brake pedal is released, 2=like 1 but only when cruise switch is on
|-
|speedkp
|Hz
|0
|100
|1
|Speed controller gain (Cruise and idle speed). Decrease if speed oscillates. Increase for faster load regulation
|-
|cruisemode
|
|0
|1
|0
|0=button (set when button pressed, reset with brake pedal), 1=switch (set when switched on, reset when switched off or brake pedal)
|-
|speedflt
|dig
|0
|16
|1
|Filter before cruise controller
|-
| colspan="6" |'''Contactor Control'''
|-
|udcsw
|V
|0
|1000
|330
|Voltage at which the DC contactor is allowed to close
|-
|udcswbuck
|V
|0
|1000
|540
|Voltage at which the DC contactor is allowed to close in buck charge mode
|-
|tripmode
|
|0
|2
|0
|What to do with relays at a shutdown event. 0=All off, 1=Keep DC switch closed, 2=close precharge relay
|-
| colspan="6" |'''Auxillary PWM'''
|-
|pwmfunc
|
|0
|2
|0
|Quantity that controls the PWM output. 0=tmpm, 1=tmphs, 2=speed
|-
|pwmgain
|dig/C
|0
|65535
|100
|Gain of PWM output
|-
|pwmofs
|dig
| -65535
|65535
|0
|Offset of PWM output, 4096=full on
|-
| colspan="6" |'''Communication'''
|-
|canspeed
|
|0
|3
|0
|Baud rate of CAN interface 0=250k, 1=500k, 2=800k, 3=1M
|-
|canperiod
|
|0
|1
|0
|0=send configured CAN messages every 100ms, 1=every 10ms
|-
| colspan="6" |'''Testing'''
|-
|fslipspnt
|Hz
| -100
|100
|0
|Slip setpoint in mode 2. Written by software in mode 1
|-
|ampnom
|%
|0
|100
|0
|Nominal amplitude in mode 2. Written by software in mode 1
|}
The following values are available for diagnostic purposes. Type
get
to get the current value. To read more then one you can provide a list like
get il1,il2,udc
{| class="wikitable"
|'''Name'''
|'''Unit'''
|'''Description'''
|-
|version
|
|Firmware version
|-
|opmode
|
|Operating mode. 0=Off, 1=Run, 2=Manual_run, 3=Boost, 4=Buck, 5=Sine, 6=2 Phase sine
|-
|udc
|V
|DC link voltage
|-
|uac
|V
|Calculated AC voltage
|-
|idc
|A
|Calculated DC current
|-
|il1
|A
|AC current L1
|-
|il2
|A
|AC current L2
|-
|il1rms
|A
|RMS current L1
|-
|il2rms
|A
|RMS current L2
|-
|boostcalc
|A
|DC link adjusted boost setting
|-
|fweakcalc
|A
|DC link adjusted fweak setting
|-
|fstat
|Hz
|Stator frequency
|-
|speed
|rpm
|Motor speed
|-
|amp
|dig
|Sine amplitude, 37813=max
|-
|pot
|dig
|Pot value, 4095=max
|-
|pot2
|dig
|Regen Pot value, 4095=max
|-
|potnom
|%
|Scaled pot value, 0 accel
|-
|dir
|
|Rotation direction. -1=REV, 0=Neutral, 1=FWD
|-
|tmphs
|°C
|Heatsink temperature
|-
|tmpm
|°C
|Motor temperature
|-
|uaux
|°C
|Auxiliary voltage (i.e. 12V system). Measured on pin 11 (mprot)
|-
|din_cruise
|
|Cruise Control. This pin activates the cruise control with the current speed. Pressing again updates the speed set point.
|-
|din_start
|
|State of digital input "start". This pin starts inverter operation
|-
|din_brake
|
|State of digital input "brake". This pin sets maximum regen torque (brknompedal). Cruise control is disabled.
|-
|din_mprot
|
|State of digital input "motor protection switch". Shuts down the inverter when =0
|-
|din_forward
|
|Direction forward
|-
|din_reverse
|
|Direction backward
|-
|din_emcystop
|
|State of digital input "emergency stop". Shuts down the inverter when =0
|-
|din_ocur
|
|Over current detected
|-
|din_bms
|
|BMS over voltage/under voltage
|-
|cpuload
|%
|CPU load for everything except communication
|}

== Tuning Guide ==
First you want to find a flat surface - a parking lot etc. so you can drive and stop without checking traffic. Change only one parameter at a time and save settings that work!

1. set fslipmin so that you feel car taking off smoothly and try to change it by +/-0,1Hz and check differences in starting. Save when satisfied.

2. lower boost value in 100 point until motor jitters at start. Then return it to last good value.

3. try lowering ampmin in 0,1 increments and observe throttle travel. When throttle is not just smooth but becomes sluggish return some previous increments until throttle reaction is acceptable.

4. change fweak value in +/-10Hz increments from starting point and observe torque in starting. This value is very dependent on battery voltage and is very subjective.

Now you find a hill or ramp and set car on it. You want to hold car in position on slope just using throttle pedal. If there parameters are not good motor will jump or will feel sluggish

1. add boost if motor is oscillating if it is smooth reduce it in 100 point increments until you get oscillation. Then return to last good value

2. reduce/increase ampmin in 0,25 increments untill you get oscilation in motor and return last good value

Now set the car into a hill to set fslipmax. Warning full throttle will be used. Be sure there is no other traffic!

Set fslipmax to chosen value (guess it at 2xfslipmin if you have no other way) and try to take off with full throttle.

If car feels sluggish with full throttle you have to add more slip.

If motor starts to jitter there is too much slip. Try to reduce it in 0.1Hz increments.

When you feel satisfied with settings save them and go on setting regen and braking effect.