Instructions for setting up Traxxas speed controllers installed on cars and boats. Mandatory electronic node. What characteristic would you like to improve in quadcopters?

Speed ​​controllers for brushless motors TURN I GY series PLUSH and BASIC

Functions:

• Extremely low output impedance, super high wear resistance.
• Multiple protection functions: Voltage drop protection/Overheat protection/RC signal loss protection.
• 3 launch modes: Normal / Soft / Super Soft, compatible with fixed wing aircraft and helicopter.
• The throttle range can be configured to be compatible with all transmitters currently available on the market.
• Smooth, linear and precise throttle response.
• Separate 1C voltage regulator for microprocessor (except PLUSH-6A and PLUSH-10A) with good noise immunity.
• Supported motor speed (Maximum): 210000 rpm (2 poles), 70000 rpm (6 poles), 35000 rpm (12 poles).
• A pocket programming card can be purchased separately to easily program the ESC at the airfield.
• With the programming card the user can activate musical function ESC, and select one of 15 melodies.

Specifications:

Note 1: BEC stands for "Battery Elimination Circuit". This is a DC VOLTAGE regulator for powering the receiver and other equipment from the main battery. With built-in BEC, there is no need to install additional receiver power circuits.

IMPORTANT! An ESC labeled "xxx-xxx-OPTO" does not have a built-in BEC. Therefore, a UBEC (Basic BEC) or a BEC built into another regulator must be used to power the receiver. Also, a separate BEC is required to enable the programming card when setting programmable ESC values ​​(see the programming card user manual).

Programmable elements:

1. Brake installation: Enabled / Disabled, default Disabled
2. Battery Type: Li-xx (Li-ion or Lipo) / Ni-xx (NiMH or NiCd), default value is Li-xx.
3. Undervoltage protection mode (Cut-off mode): Soft cut-off (Gradual reduction in power output), or cut-off (Engine stops immediately). The default value is Soft Cutoff.
4. Undervoltage protection threshold (Cut-off threshold): Low / Medium / High, the default value is Medium.
   1. For lithium batteries, the number of cells is calculated automatically. Low/medium/high cut-off voltage for each bank: 2.85V/3.15V/3.3V. For example: For a 3-bath LiPo, with the cutoff threshold set to “Medium”, the voltage cutoff will be calculated as 3.15*3=9.45V.
   2. For nickel batteries, the low/medium/high cut-off voltages are 0%/50%/65% of the starting voltage (i.e. the starting voltage of the battery), and 0% means the under-voltage cut-off function is disabled. For example: For a 10 cell NiMH battery, the fully charged voltage is 1.44*10=14.4V, when the cutoff threshold is "Medium", the cutoff voltage will be 14.4*50%=7.2V.
5. Startup mode: Normal / Soft / Super Soft, (300ms / 6s / 12s), default value is "Normal".

   Normal mode is preferred for fixed wing aircraft. Soft or Ultra Soft are preferred for helicopters. The initial acceleration of Soft and Super Soft modes is less and typically takes 6 seconds for Soft Start and 12 seconds for Super Soft Start from initial position to full throttle. If the throttle is at zero (throttle stick moved down) and opens again (throttle stick moved up) within 3 seconds of starting, the restart will be temporarily changed to normal mode to get rid of a possible catastrophic failure caused by slow gas response. This special mode Suitable for aerobatic flight when fast throttle response is required.

6. Synchronization: Low / Medium / High, (3.75°/15°/26.25°), default value is Low. (Note 2)

   Typically, low or medium timing is suitable for most engines. To get more high speed and higher output power, select high timing.

   Note 2: After changing the timing settings, test your RC model on the bench before taking off!

Before use:

Note 3: B following instructions We use the words "Key Position" and "Bottom Position" to describe the position of the throttle stick.

Key position: the gas value in this position is 100%.

Bottom Position: the gas value in this position is 0%.

Run ESC in next sequence:

Alarms:

1. Input voltage is emergency: ESC starts checking the voltage when the battery is connected, if the voltage is out of the acceptable range, it will sound Emergency Signal: "beep-beep,beep-beep,beep-beep". (Each "beep-beep" has a time interval of approximately 1 second)
2. When the ESC fails to detect the receiver signal, an alarm will sound: "beep-, beep-, beep-". (Each "beep-" has a time interval of approximately 2 seconds)
3. Throttle stick is not in the down position: When the throttle stick is not in the down position, a very fast alarm will sound: "beep-, beep-, beep-". (Each "beep-" has a time interval of approximately 0.25 seconds.)

Protection functions:

1. Start Failure Protection: If the engine does not start within 2 seconds after turning on the throttle, the ESC will enter cut-off mode. In this case, the throttle stick MUST be moved to the down position to restart the engine. This situation occurs in following cases: The connection between the ESC and the engine is not reliable, the propeller or engine is blocked, the gearbox is damaged, etc.
2. Overheat protection: When the ESC temperature is more than 110 degrees Celsius, the ESC will reduce the output power.
3. Signal Loss Protection: If the throttle signal is lost for 1 second, then 2 seconds, the ESC will enter cut-off mode and stop the engine.

Programming example

Setting the start mode to “Supersoft”, i.e. value #3 in programmable element #5

Problem solving

Normal startup procedure:

Setting Throttle Range: (Throttle Range must be reset when using a new transmitter)

1. Move the throttle stick to the up position and turn on the transmitter.
2. Connect the battery to the ESC and wait about 2 seconds.
3. A "beep-beep" signal will sound indicating that the high throttle point has been correctly confirmed.
4. Move the throttle stick to the down position. N beeps will sound indicating the number of lithium cans.
5. It will sound long sound signal, indicating that the low throttle point has been correctly confirmed.

Programming ESC from Transmitter (4 Steps)

1. Enter Programming Mode
2. Select a programmable option
3. Set the value of the selected option
4. End programming mode

1. Entering programming mode

   Turn on the transmitter, move the throttle stick to key position, connect the battery to the ESC, wait 2 seconds. A "beep-beep" signal should sound. Then wait for another 5 seconds. A special signal “56712” will sound, indicating that the programming mode is turned on.

2. Selecting a Programmable Option

   You will now hear 8 tones in a cycle in the following sequence:

   1. "beep" brake (1 short signal)
   2. "beep-beep" battery type (2 short beeps)
   3. "beep-beep-beep" cut-off mode (3 short beeps)
   4. "beep-beep-beep-beep" cutoff threshold (4 short beeps)
   5. "beep-" startup mode (1 long beep)
   6. "beep-beep-" Synchronization (1 long, 1 short beeps)
   7. "beep-beep-beep-" reset all settings to default values ​​(1 long, 2 short beeps)
   8. "beep-beep-" output (2 long beeps)
3. Setting the value of the selected option

   You will hear several beeps in a loop. Set the value to the desired value by moving the throttle stick to the up position when you hear the corresponding signal. Special signal"1515" will mean that the value is set and saved. (Holding the throttle stick up will return you to step 2 and select other items. Move the throttle stick down for 2 seconds and you will exit programming mode.)

   Options/signals	1 short beep	2 short beeps	3 short beeps
   Brake	Switched off	Included
   Battery Type	Li-Ion/Li-Poly	NiMh/NiCd
   Cut-off mode	Power reduction	Complete shutdown
   Cutoff threshold	Short	Average	High
   Startup mode	Normal	Soft	Super soft
   Timing	Short	Average	High

4. Ending programming mode

   There are 2 options to exit programming mode:

If at least once during the process of using a quadcopter you have asked questions about the purpose of this or that part - about the ESC Motor, for example - then our article is just for you.

ESC Motor, also known as Electric Speed ​​Controller, is a speed controller installed on brushless motors. The main task of this part is to transfer energy from the battery to a three-phase brushless motor and convert it into energy direct current. Another task of the electric speed controller is to limit the current that passes through the phases during switching.

In order to understand the operation of the ESC controller in more detail, you should first learn more about the design of the motor, which we will do in the article below.

How does a brushless quadcopter motor work?

A brushless motor has three phases (or windings) in its design. Conventionally they are called with Latin letters A, B and C. All conductors are connected in phases with terminals at the end. In the picture below you can see two connection methods:

The processes occurring inside a brushless motor during operation are similar to the reaction of a frame with current under the influence magnetic field- the same one from school physical experiments. When placed in a magnetic field, the frame began to rotate, and did not perform this movement constantly, but up to a certain point. For constant rotation, a current direction switch was needed.

By analogy with physical experience: in a brushless motor, the frame is the winding (or phases), and the switch is the electronics, which at certain moments supplies constant pressure to the required starter phases.

In order for the engine to operate continuously, the electronics must be able to recognize the position of the rotor. She does this with the help of sensors - optical, magnetic, discrete, and so on. The latter, by the way, are used in most modern models.

In a brushless motor having three phases, three sensors are installed respectively. It is thanks to them that the control electronics always have exact information about the position of the rotor, and at what moment and to which phases voltage needs to be applied.

But also among brushless motors there are also types in which sensors are not provided. In this case, the electronics determines the position of the rotor by measuring the voltage on the winding, which is not in operation at the time of testing.

When are sensors not installed?

Brushless motors, which have in their design the sensors discussed above, are considered the most modern, functional and technically equipped, but at the same time the simplest. All this makes them most preferable for installation in a radio model. However, nothing is ideal in the world, so this type of engine also has certain disadvantages.

Firstly, for correct operation A wire must be laid from each sensor in the engine to provide power. Secondly, if at least one of the sensors fails, then the entire engine will not be able to work. Thirdly, replacing the sensor requires complete disassembly of the entire engine, which means it is an expensive service at a service center.

Motors with sensors are mainly installed in those quadcopters whose launch is associated with heavy loads onto the motor shaft.

If loads on the shaft are not provided, then a motor without sensors can be used. This subtype is also used in models in which the design does not allow the placement of an engine with sensors.

However, when installing engines of this kind, it is worth considering that at the moment of starting, oscillations or rotation of the engine axis may occur in different directions.

What characteristic would you like to improve in quadcopters?

Mandatory electronic node

Let's return to the electric speed controller. This mechanism is needed to regulate the speed of rotation of the electric magnetic field and at the same time to supply voltage to those phases that are necessary.

The design of the ESC is a microcontroller with a built-in program and MOSFET power switches.

ESC is characterized by the maximum current supplied from the battery to the motor.

Because of this, novice radio amateur designers often give preference to regulators with high current reserves - this is not always true. So, you can often choose a controller with a smaller margin, but it will work better. In addition, the advantage will be lower cost and lower weight.

But where controllers differ is in quality—unfortunately, there are often cases when manufacturers even skimp on thermal paste. Due to negligence in production, regulators quickly burn out. It is for this reason that if you are choosing between two ESCs with identical characteristics, but different prices, give preference to the more expensive one.

There are two types of speed controllers: BEC and UBEC. BEC - Battery Eliminator Circuit - a regulator that has a built-in voltage stabilizer in its design. Average The power of this model is 5V, which is what powers the receiver and much other quadcopter equipment.

UBEC - Universal Battery Eliminator Circuit - removable voltage stabilizer. Some radio modelers in the design of quadcopters prefer the Universal Battery Eliminator Circuit, as they believe that this option is more reliable, since it does not depend on the temperature of the regulator.

UBECs are also divided into two types: pulse and ion. In general, they are almost identical, but the first ones are especially good for their high efficiency (which, by the way, increases with the price of the product) and lower overheating. However, in the case of this type of stabilizer, it is extremely important not to parallelize the power supply. When working with ionic stabilizers, such an installation, although not recommended, is still allowed.

The microcontroller installed in all regulators has several adjustable parameters - brake, voltage, startup time and its rigidity, and so on.

Regulator calibration

Although the calibration of regulators depends on specific model Quadcopter on which this controller is used, there is one method common to all - setting and calibrating all regulators at once.

It is worth noting that if you have a quadcopter from DJI, then you will not need calibration.

Important note - before you begin calibrating the controllers, calibrate the radio and connect the controllers to the motors.

Before starting work, always make sure that they are safe - remove the propellers and disconnect the quadcopter from the network or USB.

Further work will take place in several stages.

In the first step, turn on the remote control remote control and move the stick responsible for supplying power to the maximum position. If after connecting lithium polymer battery The lights on the flight equipment began to light up cyclically in red, blue and yellow, which means you have done everything correctly and the APM is ready for the calibration procedure.

In the second step, without touching the power stick, disconnect and reconnect the battery. This procedure will enable the calibration mode for the autopilot. Confirmation of this will be the alternate flashing of red and blue LED lights, as if on a police car.

Only after the signal sounds exactly as many times as your battery has cells (for example, for 3S there should be 3 signals), you can remove the power stick to the minimum position.

If after this you hear a single but continuous signal, it means the calibration process is complete.

As a check, give the engines a little gas - if they start to rotate, then everything is done correctly.

At the third stage, the speed controller calibration mode is exited - for this, the power stick is set to the minimum position and the battery is turned off.

More detailed instructions You can watch the video below to see how controllers are calibrated.

The article describes how regulators are calibrated. Calibration is necessary so that the regulators “remember” the minimum and maximum gas levels and subsequently work correctly when the level changes.

Before you begin the regulator calibration procedure, you must ensure that the procedure has been done. If the equipment has been reconfigured, this calibration must be done again.

If we have calibrated the equipment and connected the motors with regulators to the APM controller according to the type of frame selected, then we can proceed to calibrate the regulators.

Let's consider 2 ways to calibrate regulators:

• With connection to APM controller
• Separate calibration of each regulator

Before starting, be sure to TAKE OFF propellers, disable USB from controller and disconnect battery.

Calibration of regulators with an APM controller

1. Turn on the equipment and set the gas level to maximum.
2. Connect the battery to the copter. The LEDs on the APM board (red, yellow, blue) began to blink alternately. This means that the controller is ready for the regulator calibration procedure after subsequent removing and supplying power from the battery.
3. Leave the gas level at maximum, disconnect and then reconnect the battery.
4. The controller is now in the controller calibration mode (on the board you can see that the red and blue LEDs have begun to turn off alternately).
5. You must wait for the controls to play the melody. Next there will be signals corresponding in number to the connected battery (3 times for a 3S battery, 4 times for a 4S battery, etc.), then there will be 2 more signals, meaning that the regulators have detected a high level of the gas signal (around 2000 µs).
6. Sharply reduce the gas to minimum.
7. You should now hear a long beep from the regulators indicating that minimum level gas and that calibration is complete. Now you can try adding a little gas to get the motors to start rotating. Then set the gas level to minimum again.

Video showing the calibration process:

Calibration of each regulator

1. Connect one of the regulators to the receiver on the gas channel (usually the 3rd channel).
2. Turn on the equipment and set the gas level to maximum.
3. Connect the battery to the copter.
4. You must wait for the controls to play the melody. After two signals, sharply reduce the gas to minimum.
5. You should now hear beeps corresponding to the number of the connected battery (3 times for a 3S battery, 4 times for a 4S battery, etc.), then a long beep from the regulators indicating that the minimum gas level has been detected and that calibration is complete. You can try to slightly increase the gas to start the engine.
6. Disconnect the battery. Repeat steps 1-5 for the remaining controls.
7. If the process goes wrong, then you need to make sure that the equipment produces a signal without reverse. If necessary, reverse the gas channel in the equipment. You should also try reducing the gas level with the trimmer by 50%.
8. Set the gas level to minimum. Next, disconnect the battery to exit the regulator calibration mode.

• Many regulators when turned on with high level gas enter programming mode. The signal level is remembered as maximum. When moving the throttle stick from the minimum position, the signal level is remembered as minimum.
• If after calibration the motors do not start to rotate simultaneously or rotate with at different speeds, then the calibration must be repeated.
• If you cannot calibrate using APM controller, then perform it manually (second method) for each regulator.
• The calibration procedure is different for some regulators. Read the regulator documentation.
• For more accurate calibration, you can connect all regulators to the receiver at the same time. In this case, the influence of “floating” of the equipment signal will be eliminated.

Selecting control settings

• Brake: OFF. Engine braking after setting the gas to zero. May have on/off values
• Battery Type: Ni-xx(NiMH or NiCd). We do not select the type of Li-Po batteries, because... the regulator will stop the motors when the battery voltage drops, and at least there is a chance to try to land the copter.
• Cut Off Mode: Soft-Cut. When the engine is turned off smoothly, the controller reduces the speed gradually.
• CutOff Threshold: Low. The motor will be turned off only when the minimum voltage on the battery is reached.
• Start Mode: Normal. We select the average value from the available ones (golden mean). Soft and hard starts are not recommended.
• Timing: MEDIUM. A parameter on which the engine power and efficiency depend. Can range from 0° to 30°. Physically, this is the electrical advance angle of winding switching.

On this moment We consider the regulator calibration procedure completed. Try starting the engines for now we will not, because the procedure has not yet been completed initial setup controller.

They are responsible for the rotation speed of the engines, regulated by the flight controller. Most ESCs should be adjusted to know the minimum and maximum PWM value that the flight controller sends. This page contains instructions for calibrating ESCs. Please calibrate the radio before calibrating the ESC motors.

About calibration

ESC calibration will depend on which brand you use. Therefore, refer to the regulator documentation to obtain specific information(for example, tones). Calibrating "all at once" works well for most speed regulator motors, so this good idea to try to do this right away and if that fails, try the "ESC calibration one at a time" method.

• For most motor speed controllers, you can use the "all at once" calibration method.
• DJI Opto controllers do not require or support calibration, so skip this page entirely
• Some models of ESC controllers do not allow calibration, and will not disarm unless you adjust the sticks on your radio so that at the minimum position the value is about 1000 PWM. Please note that if you change limits, trims and everything that is responsible for the position of the stick on the equipment, you will need to recalibrate the radio.
• To begin this procedure, you must mandatory complete “radio calibration” and “connecting speed controllers to motors”. Next, follow these steps:

Calibrating “all at once” ESC regulators

Check the safety of the work!

Before calibration ESC regulators, please make sure that your quadcopter does not have propellers and is not connected to a computer via USB and Lipo battery disabled.