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Configuration Registers

Each configurable feature of the controller is defined by one or a combination of configuration register values. This table summarizes the available configuration registers.

These registers are available directly using the CANBUS interface, and the ranges are those used natively by the controller. User Interface software may present the features or ranges differently (for example, representing a value as a percentage rather than 0-255). When using external software to configure the controller, refer to the external software's documentation for the correct values and ranges.

The operational configuration of the controller is stored permanently in the controller. At powerup, this configuration is copied to a 'shadow' version which is used thereafter. The CANBUS interface is able to access both the permanent configuration and the shadow configuration. Changes made to the shadow configuration take effect immediately, but are not retained through a power cycle. Changes made to the permanent configuration do not take effect immediately, but are retained permanently. It is up to the system designer to determine whether to make a change permanent.

Danger

Adjusting or changing the controller's configuration can cause unexpected movement of the motor and/or vehicle/system. Always secure the machine before making adjustments to the configuration.

Configuration Registers

These registers are accessed using

  • Bank 2, for shadow settings
  • Bank 3, for permanent settings

All values are shown in hexadecimal format, unless otherwise noted. For example, Address 19 refers to register 0x19. Where a specific bit within a register is addressed, it is shown as rr:xx, where rr indicates the register in hexadecimal format, and xx indicates the bit number. Example, Address 17:05 indicates bit 5 of register 0x17.

Note

Bits that are not defined or used should be left in their current state. Always read the register and then set or clear the bits you need to change and then write the new value back to the register.

Address Parameter Format Range Description
0 Max Speed Byte 0-255 Maximum speed used by some throttle modes.
15 Hi Temp Cutoff 5V/256 0-5V Determines the voltage level of ANIN that causes a cutback of output power. For example, to reduce power when an external temperature sensor exceeds this preset value.
17 Config Options 3 Bitmap 0-1 Bit 5: Unidirectional Throttle Off/On. When 1, throttle causes motion in one direction only.
19 Throttle Deadband 5V/256 ~=19.5mV 0-255 Sets the throttle pot range that the controller determines as neutral. 0=No deadband
1B Throttle Failband 5V/256 ~=19.5mV 0-255 This is an area beyond the full speed throttle voltage that disables the motor. Throttle Failband provides a safety feature to protect against throttle shorts to ground or 5V, which could lead to dangerous runaways. 255=No failband.
1D Throttle Scale 0-255 Sets the throttle scale which determines the throttle pot voltage needed for full speed, and sets the amount of throttle movement necessary to obtain full throttle.
1F Throttle
Flags
Bitmap 0-1 Bit 0: Invert Throttle. 1=Inverted throttle polarity
Bit 1: Reserved
Bit 2: Set to use ANIN input as max speed
Bit 3: Reserved
Bit 4: Set to use max_spd setting in Register 0x00
Bit 5: Reserved
Bit 6: Use Digital Throttle as Max Pot
Bit 7: Reserved
23 Config Options 4 8 Bit 0-1 Bit 0: Indoor High 1=Indoor when high. 0=Indoor when low
Bit 1: Zero throttle 0=2.5V Bidirectional 1=0V Unidirectional
Bit 2: Reverse Pin 1=Active high 0=Active low
Bit 5: In/Out current
Bit 7: Motor Therm 1=Use ANIN as motor temp sensor
27 Top State Of Charge Voltage 0-255 Defines the voltage at which state of charge is 100%. The value is in .35866V steps
28 Undervoltage Voltage 0-255 Defines the voltage at which a low voltage warning will occur. The value is in .35866V steps
36 Forward
Acceleration
(Outdoor)
Time
Constant
0-255 Forward acceleration constant. The higher the number the longer the time.
37 Forward
Deceleration
(Outdoor)
Time
Constant
0-255 Forward deceleration constant. The higher the number the longer the time.
38 Forward
Deceleration
(Outdoor)
Time
Constant
0-255 Forward deceleration constant. The higher the number the longer the time.
39 Reverse
Acceleration
(Outdoor)
Time
Constant
0-255 Reverse acceleration constant. The higher the number the longer the time.
3A Reverse
Deceleration
(Outdoor)
Time
Constant
0-255 Reverse deceleration constant. The higher the number the longer the time.
3B Reverse
Deceleration
(Outdoor)
Time
Constant
0-255 Reverse deceleration constant. The higher the number the longer the time.
3C Forward
Acceleration
(Indoor)
Time
Constant
0-255 Forward acceleration constant. The higher the number the longer the time.
3D Forward
Deceleration
(Indoor)
Time
Constant
0-255 Forward deceleration constant. The higher the number the longer the time.
3E Forward
Deceleration
(Indoor)
Time
Constant
0-255 Forward deceleration constant. The higher the number the longer the time.
3F Reverse
Acceleration
(Indoor)
Time
Constant
0-255 Reverse acceleration constant. The higher the number the longer the time.
40 Reverse
Deceleration
(Indoor)
Time
Constant
0-255 Reverse deceleration constant. The higher the number the longer the time.
41 Reverse
Deceleration
(Indoor)
Time
Constant
0-255 Reverse deceleration constant. The higher the number the longer the time. >
4D Bit 3: Clear to disable power-on diagnostics.
57 Digital Control Bitmap 0-1 Bit 0: Enable digital control (buttons)
Bit 1: Disable TPOT (analog) throttle
Bit 2: Enable Digital Throttle
5B Severe Undervoltage Defines the low voltage threshold at which the controller will power off. Note that the controller will not power on unless the input voltage is at least as high as indicated by this setting.
5D IN23 Type Bitmap set upper nibble to 'A' to enable 'in2' as a seat stop input. Otherwise, set to 0
5E Config Options 9 Bit 2: in2_invert 0 = seat occupied when GP_DIN2 = 1, 1 = occupied when GP_DIN2 = 0.
5F Throttle Offset 5V/256 ~=19.5mV -128 - 127 Sets the throttle offset for bidirectional throttles so that the center voltage is offset higher or lower than 2.5V.
86 Config Options 8 Bitmap 0-1 Bit 5: Aggressive temperature cutback. When set, the controller will begin cutting back power at 32 degrees below the temperature limit, rather than 8 degrees C.
87 High Voltage Limit
8A
0x8B
Max RPM 16-bit LE 0- 32767 Bit 15: Enable Speed Limit.
Bits 0-14: Speed limit in RPM.
If enabled, this feature cuts back motor power to keep BLDC motor RPM below the indicated value. Zero=No speed limit.
9B ANIN Temperature Offset Byte 0-255 This value represents the ANIN voltage if the temperature were 0 degrees C. The Range of offset is (0.625 - 1.92V)
9C ANIN Temperature Gain Byte 0-255 ANIN scaling factor(bits6:0). Bit 7: 0=positive volt/temp, 1=negative volt/temp