TRAMPA VESC 6 MK VI Vedder ESC For DC And BLDC Motors Instruction Manual
- June 13, 2024
- TRAMPA
Table of Contents
VESC 6 MK VI
Vedder ESC For DC And BLDC Motors
Instruction Manual
VESC 6 MK VI Vedder ESC For DC And BLDC Motors
WARNING: Read the ENTIRE instruction manual to become familiar
with the device and its features before operating. Failure to operate the
product correctly and safely may result in damage to the product, personal
property and cause serious injury.
This product must be operated with caution, common sense and in harmony with
any regulations in place. Usage requires some basic mechanical and electrical
ability. Failure to operate this product in a safe and responsible manner
could result in injury or damage to the product or other property. This
product is not intended for use by children. Do not attempt disassembly, use
with incompatible components or augment product in any way without given
approval by the manufacturer. This manual contains instructions for safety,
operation and maintenance. It is essential to read and follow all the
instructions and warnings in the manual, prior to assembly, setup or use, in
order to operate correctly and avoid damage or serious injury.
Age Recommendation: Not for children under 16 years. This is not a toy.
Throughout the literature the following terms will be used to indicate various
levels of potential harm when operationg this device.
NOTICE : Procedures which, if not properly followed, create a possibility
of physical property damage AND a little or no possibility of injury.
CAUTION : Procedures which, if not properly followed as described in this
manual, create the probability of physical property damage AND a possibility
of serious injury.
WARNING: Procedures which, if not properly followed, create the
probability of property damage, collateral damage, and serious injury OR
create a high probability of superficial injury.
WARNING: This device may not be used for applications requiring
fulfillment of special safety standards. Among others this includes: Vehicles,
aircrafts, certain machines and operation in safety critical environments like
medical, nuclear and L military!
Integrating your VESC controller into an electrical System:
Your VESC motor controller is designed to be integrated into a battery powerd electrical system only! The sketch above shows how to integrate your VESC- Controller into such a system. Minimum requirements for safe operation:
- Integration of a safety power cut-off.
- The integration of a FUSE, rated in accordance of your electrical system (weakest part of the system).
- Use of a compatible input device (legal to operate, free of interference, reliable). Shown: PPM (Pulse Position Modulated) 2.4GHz receiver.
- Using safe setting for the operation in accordance with your electrical system and components involved.
- Use a Battery Management System (BMS) if the motor is used for regenerative braking or as a generator.
- Follow general safety measures for your device/system, as legally required.
Safe Settings and Operation for Motor and Battery Settings (Motor Settings
Panel, General):
WARNING: This device is intended to be used with the original Open Source
Software VESC-Tool.
Usage of other software than stated voids warranty and statement of
conformance!
This is a guide to set up your device within the measures of safe operation.
Stay safe!
To prevent injuries, operate your motor without attached propellers, wheels
and/or moving mechanical parts when doing/changing your setup.
Stay clear of any moving parts! Motor will spin up during setup!
If you are not an expert, please use the Wizards for Setup!
Additionally, apply safe settings for the temperature cutoffs to prevent
overheating.
-
BLDC Mode: Block Commution (Trapezoidal), more noise, less efficient, sometimes lesser likelihood to experience problems.
-
FOC Mode: Sinosoidal Commutation (Sine Wave), free of noise / vibrations, more efficient, more complex.
-
Sensors: Does your motor/ setup incorporates motor sensors? Do you want to use them? (Hall, ABI, AS 5047P Sensors) Did you check and adjust the sensor voltage (3.3 / 5V)?
-
Battery Cutoff Start: System decreases power usage when voltage drops below defined value, e.g. 3.4V per cell for LiPo (battery protection/health).
-
Battery Cutoff End: System stops motor when voltage drops below defined value, e.g. 3.1V per cell for LiPo (battery protection/health).
-
Motor Current Max: Defines maximum allowed Amp draw for the Motor. Can your motor cope with your setting? Does anything get hot during operation?
-
Motor Current Max Brake: Defines maximum allowed current being generated by the motor (regenerative braking).
Warning: Wrong settings may overstress your motor/generator and/or battery! Read the warnings below! -
Absolute Maximum Current: Max. Amp flow allowed in your electrical system (peak).
-
Battery Current Max: Max. allowed continuous current drain according to batteries technical data sheet. Read warning below!
-
Battery Current Max Regen: Max. current fed back into your battery pack. Check batteries data sheet to prevent dangers or battery damage. Read wamings below!
-
MOSFET Temp Cutoff Start: System decreases power usage when temperature reaches this value (default 80°C)
-
MOSFET Temp Cutoff Start: System stops motor operation when temperature reaches this value (default 100°C)
-
MOTOR Temp Cutoff Start: System decreases power usage when temperature reaches this value (default 80°C). Motor Temp sensors needed for this feature.
-
MOTOR Temp Cutoff End: System stops motor operation when temperature reaches this value (default 100°C). Motor Temp sensors needed for this feature.
Please visit www.vesc-project.com/documentation for more Information. If you are unsure about any
setting inform yourself or send us a message to prevent any danger. Start
using values on the safe side and check if any part of your electrical system
starts to heat up beyond safe limits of operation.
Warning: When using the motor as a generator (e.g. as a regenerative
motor brake), your battery will be charged with the setting found in Motor
Settings >> General >>Current Tab of VESC-Tool. The Battery Current Max Regen
value will define the maximum Ampflow pushed towards your battery when the
motor is operated as a generator (e.g. during regenerative braking). Make sure
your battery can handle the ampflow, as defined in the settings mentioned
above. The maximum battery charge currents can be found in the batteries
documentation and data sheets. Never use your motor as a generator when your
battery is fully charged, especially if your battery is vulnerable to catch
fire or explode when overcharged.
LITHIUM BATTERIES and other types of Batteries ARE potentially DANGEROUS!
Depending on your application you may need to include a Battery Managemant
System (BMS) to safely operate your battery and to give you feedback, when the
battery is fully charged. Stop using the motor as a generator until your
battery is discharged enough to cope with regenerative braking again. Never
drain more Amps than your battery and/or motor can cope with (Max rating for
continuous Amp flow). Use safe settings for all parameters found in the Motor
Settings >> General >> Current Tab!
Connectors and Switches:
Your VESC controller is equipped with USB, CAN-Bus, PPM, COMM, SWD and a
SENSOR ports.
The following List will give you an idea how to interconnect the device to
other devices.
-
Sensors:
Sensor Port for ABI, HALL or AS5047P motor position sensors. Motor sensors allow precise and powerful rotation of the motors rotor from a random (standstill)
Check and adjust the sensor voltage in software (3.3 / 5V)!
Did you check the wiring scheme of your sensor cable? -
NRF:
UART port for connection of NRF transceivers or other UART devices. -
SWD:
Serial Wire Debug allows to access the STM32 Chip while running your VESC motor controller: Diagnostics, debugging and real time data. -
COMM :
I2C, UART and ADC Interface to allow communication with other devices, such as Microcontrollers (e.g. Arduino, Raspberry Pi) or using analogue input devices (e.g. analogue throttle) -
PPM:
Connect input devices using Pulse-Position Modulation e.g. a 2.4GHz transceiver for controlling the motors output power and speed (Radio control). Never connect one reciever to two or more VESC controllers in an array! Permanent damage may result from Y-PPM wiring! -
CAN:
CAN BUS for interconnection of the VESC controller in an array. E.g. when implementing traction control in a multi drive setup or when powering up multiple motors, using multiple Controllers (master + slave 1, 2, 3,….). CAN- bus is also a universal bus to link the Controller to other devices also featuring CAN-Bus. ONLY connect CAN L to CAN L and CAN H to CAN H. Do not interconnect 5V and GND in a VESC controller array!
Permanent damage may result! -
Motor A,B,C
Connectors for three phase wired BLDC Motors (Coil A, B, C). In most cases the motor wires can be plugged in randomly. If you know your motor phases plug in the phases accordingly (Yellow = A, Blue=B, Red=C) to be displayed correctly in the VESC-Tool real time data analysis. DC-Motors use only connections A and C, B will be left unplugged! -
USB
Micro USB-Port to connect to a computer for the purpose of configuration, firmware updates and real time data analysis. -
STS
Spin To Start. Bridge pins to activate wake up via motor spinning.
Please visit www.vesc-project.com/documentation for more Information.
The following LED light Codes will be displayed by your VESC controller:
-
BLUE:
Device is powerd up -
GREEN DIM:
SW Running >> Software (Firmware) installed and running -
Green Bright:
Device is driving the motor. -
Red:
Fault code, something is wrong! Read out the fault code in VESC-Tool.
Switch wiring options
Wiring using a Normally Closed (NC) switch or bridge cable
OPTION 1:
Using a LED (5V) illuminated power switch| -manual power off/on
-roll to start
-LED indicates state
-auto power off
---|---
OPTION 2:
Using a non illuminated power switch| -manual power off/on
-roll to start
-auto power off
OPTION 3:
Spin To Start active, auto power off. Wire bridge on each Controller + Jumper
on STS port.| -Spin To Start
-auto power off
OPTION 4:
Use a separate soft start power switch. Do not connect any wires| -no roll to
start
-no auto power off
-no use of integrated switch
Avoiding Ground Loops
Ground loops will damage your devices. Follow the guidelines below to prevent loops.
Multiple VESC controllers connected to one receiver or micro controller via
PPM, UART, I2C or SPI. Receiver or micro controller has its own power supply.
Multiple VESC
controllers connected to one receiver or micro controller via PPM, UART, I2C
or SPI. Receiver or micro controller is powered by one VESC device.
Multiple VESC
controllers connected to one receiver or micro controller via PPM, UART, I2C
or SPI. All devices are powered by the same battery.
Ground loop via
grid! Run computer form battery or use USB isolator.
Multiple VESC
controllers connected to one receiver or micro controller via PPM, UART, I2C
or SPI. Receiver or micro controller is attached to other devices.
Multiple VESC
controllers connected to one receiver or micro controller via CAN. Receiver or
controller can be powered from any source. Only connect CAN H and CAN L.
Never share any
connections, other than CAN H and CAN L with other VESC devices. This will
typically create a ground loop. Ground loops will damage your controllers.
Only the battery ground may be shared. Use optocouplers instead.
Typical ground
loop free setup. Controller/Receiver powered by VESC device. Further devices
linked via CAN. 
Technical Data Sheet
-
Voltage: 6V — 60V (Safe for 3S to 12S LiPo).
Voltage spikes may not exceed 60V! 52V input voltage max! -
Current: Continuous 80-100A, Burst 120A. Values depend on the temperature and air circulation around the device!
-
5V 1A output for external electronics
-
3.3V 0,5A output for external electronics
-
Modes: DC, BLDC, FOC (sinusoidal)
-
Supported sensors: ABI, HALL, AS5047,TS5700N8501 and many more ( see VESC-Tool).
Features
- Current and voltage measurement on all phases
- Regenerative braking
- Advanced FOC motor control
- Sensored or sensorless operation + hybrid mode
- • Sensorless high torque motor startup (HFI, sHFI, VSS)
- Configurable RPM-, current-, voltage- and power limits
- Input source: PPM (PWM), Analog, NRF, CAN
- Communication ports: USB, CAN, 2 x UART, I2C, SPI
- Throttle curve and ramping for all input sources
- Seamless 4-quadrant operation
- Motor revolution, amp hour, watt hour counting
- Real time data analysis and read out via communication ports
- Built in Power Switch (Hibernation)
- Custom scrip loading. Add features yourself via scripting.
- Spin to start, auto power off
- Adjustable protection against:
– Low input voltage
– High input voltage
– High motor current
– High input current
– High regenerative braking current (separate limits for the motor and the input)
– High RPM (separate limits for each direction).
– Over tempertaure (MOSFET and motor)
Declaration of conformity (in accordance with ISO/IEC 17050-1)
Product: VESC 6.91
Item Number: #VESC 6.91
The object of declaration described above is in conformity with the
requirements of the specifications listed below, following the provisions of
the EMC Directive 2004/108/EC:
EN55011:2017-3
EN55022:2011-12
EN55024:2016-05
LVD 72-23 / 93/68 EWG
Nottingham, 04.07.2022
Trampaboards Ltd.
TRAMPA BOARDS LTD 2002 – 2016
Company Registration UK 4653504
Registered Business Address
Unit 16, Centre Court,
33 Little Tennis Street,
Colwick, Nottingham,
NG2 4EL, United Kingdom
This device is manufactured to meet the RoHS2 (2011/65/EU) regulations.
Instructions for disposal of WEEE by users in the European Union
This product must not be disposed of with other waste. Instead, it is the
user’s responsibility to dispose of their waste equipment by handing it over
to a designated collections point for the recycling of waste electrical and
electronic equipment. The separate collection and recycling of your waste
equipment at the time of disposal will help to conserve natural resources and
ensure that it is recycled in a manner that protects human health and the
environment. For more information about where you can drop off your waste
equipment for recycling, please contact your local city office, your household
waste disposal service or where you purchased the product.
FCC COMPLIANCE
This device complies with Part 15 of the FCC Rules. Operation is subject to
the following two conditions: (1) this device may not cause harmful
interference, and (2) this device must accept any interference received,
including interference that may cause undesired operation.
NOTE
This equipment has been tested and found to comply with the limits for a Class
B digital device, pursuant to part 15 of the FCC Rules. These limits are
designed to provide reasonable protection against harmful interference in a
residential installation. This equipment generates, uses and can radiate radio
frequency energy and, if not installed and used in accordance with the
instructions, may cause harmful interference to radio communications. However,
there is no guarantee that interference will not occur in a particular
installation. If this equipment does cause harmful interference to radio or
television reception, which can be determined by turning the equipment o and
on, the user is encouraged to try to correct the interference by one or more
of the following measures:
- Reorient or relocate the receiving antenna;
- Increase the separation between the equipment and receiver;
- Connect the equipment into an outlet on a circuit different from that to which the receiver is connected;
- Consult the dealer or an experienced radio/ TV technician for help.
The following parties are responsible for the compliance of radio frequency equipment with the applicable standards: in the case of equipment subject to authorization under the verification procedure, the manufacturer or, in the case of imported equipment, the importer. If subsequent to manufacture and importation, the radio frequency equipment is modified by any party not working under the authority of the responsible party, the party performing the modification becomes the new responsible party.
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