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ESC Checkout Procedure

The esc checkout procedure should take place for each received ESC module.

Important

This step is designed to test the correct operation of the ESC with a test motor

Equipment

To perform this checkout, you will need the following:

  • The ESC to test.
  • A CAN interface (USBtingo or similar), along with a wire to connect to the ESC.
  • A power supply (48V/2A)
  • The test motor (fixed motor parameter set is used during testing)
  • A computer with the highdra CLI installed.

The ESC should run the telegra firmware (e.g., V1.0).

Setup

Before starting, connect the CAN interface, power and the motor to the ESC.

Powering on

Activate the power supply and the ESC should boot. After approx 12s, the LED should show its ready state (green) and the ESC should be available for testing.

Procedure

Now comes the automated checkout procedure: run highdra esc checkout, and follow the instructions on the screen.

First, select the CAN interface to use. Normally you should only have a single one, but if you have multiple connected, select the one you connected to the charging hub.

PS C:\Users\lasse> highdra esc checkout
? CAN3 interface CAN FD
   socketcan:can0
   socketcan:can1
 » usbtingo:1731625A

Tip

If you have to run the checkout procedure multiple times and already know which CAN interface to use, you can also specify it as a command line argument:

PS C:\Users\lasse> highdra battery checkout --can=usbtingo:1731625A

▸ Running Software Update.
[...]

From there on, the procedure will run more or less automatically.

Sample Output 
PS C:\Users\lasse> highdra esc checkout
    ? CAN1 interface usbtingo:1731E9EE
    ▸ Waiting for ESC discovery ...
    ▸ ESC Node discovered: 17

    ▸ Running CheckHeartbeat.
    ✓ ESC discovered: com.zubax.telega (Software: 1.0, Hardware: 1.3)
    ✓ CheckHeartbeat succeeded in 0:00:00.520696.

    ? Is the ESC LED blinking green 🟢? Yes
    ? Is the Test-Motor connected to the ESC? Yes

    ▸ Running Selftest.
    ✓ Selftest succeeded in 0:00:06.434107.
    ▸ Copying test motor parameters to the ESC...

    ▸ Running SetMotorParameters.
    ✓ SetMotorParameters succeeded in 0:00:00.136514.
    ▸ Rebooting ESC to apply new parameters...

    ▸ Running Reboot.
    ⠼ Node 17 restart finished 0:00:12
    ✓ Reboot succeeded in 0:00:12.349343.

    ▸ Running ValidateMotorParameters.
    Validating motor.mechanical_ratio is 21...
    Validating motor.current_max is 40.0...
    Validating motor.flux_linkage is 0.0019743298180401325...
    Validating motor.inductance_dq is [1.761795829224866e-05, 1.761795829224866e-05]...
    Validating motor.resistance is 0.049314677715301514...
    ✓ ValidateMotorParameters succeeded in 0:00:00.158758.

    ? Is the propeller removed, is it safe to spin the motor? Yes

    ▸ Running SpinMotor.
    ? Does the motor spin clockwise? Yes
    ? Does the motor spin counter-clockwise? Yes
    ! About to spin the motor at 300 rad/s.
    y? Is the motor spinning smoothly? Yes
    ✓ SpinMotor succeeded in 0:00:06.794288.

    ✓ ESC checkout completed successfully!

CheckHeartbeat

This test tests the Cyphal communication via CAN. It expects a node with providing information. The name should match "com.zubax.telega".

Selftest

The ESC (Myxa with telegra firmware) offers an internal selftest, which is executed here. It requires an attached motor.

SetMotorParameters, Reboot, ValidateMotorParameters

The test SetMotorParameters, with the following Reboot and ValidateMotorParameters configures the ESC for the test motor to be spinned in the following.

SpinMotor

This test turns the motor slowly in both directions. Then a faster spinning is executed.