# Nucular Controller P24F
# Network ID: 7
[Control]
Control source = Auto
Throttle mode = Torque
Adaptive throttle = 20%
# # Throttle = 0.838 V
Throttle min = 1080 mV
Throttle max = 4384 mV
# # Brake = 0.006 V
Brake min = 4332 mV
Brake max = 9830 mV
Brake button power = 100%
Invert brake = OFF
Active braking = OFF
Brake at overheat = OFF
Lock throttle at brake = OFF
Reverse on brake = OFF
Boost duration = 0.3 s
Speed ref. filter = Quadratic
Filter factor = 5000
Speed mode = U supply
Reference speed = 50
Minimum speed = 1000ERPM
Speed lim. at 0% throttle = OFF
Brake as clutch = OFF
[Control modes]
# # Current mode: = N
Phase 1 = 100A
Battery 1 = 50A
Power 1 = 0.0kW
Speed 1 = 24%
Phase 2 = 300A
Battery 2 = 80A
Power 2 = 0.0kW
Speed 2 = 100%
Phase 3 = 400A
Battery 3 = 110A
Power 3 = 0.0kW
Speed 3 = 150%
Braking phase = 50A
Braking ph. at speed = 0A
Braking ph. at 0% throttle = 0A
Braking ph. on Neutral = 0A
Speed reverse = 10%
Phase reverse = 75A
Field weakening = 78A
# Current change speed:
- acceleration = 4050A/s
- braking = 2000A/s
- shutdown = 5000A/s
[Advanced modes]
Enable adv. modes = ON
Neutral by default = OFF
Neutral timer = 0 s
# Enter 23 to activate:
# Boot-up logic:
Disable throttle lock = 0
Disable CAN throttle lock = 0
[Mode S1]
Throttle mode = Torque
Acceleration lim. = 0ERPM/s
Deceleration lim. = 0ERPM/s
Braking phase = 0A
Braking ph. at 0% throttle = 0A
Reverse = OFF
Cruise = OFF
Disable motor = OFF
Disable throttle = OFF
Active braking = OFF
Reverse on brake = OFF
Brake as clutch = OFF
Speed lim. at 0% throttle = OFF
Disable PAS = OFF
PAS scale = 100%
[Mode S2]
Throttle mode = Torque
Acceleration lim. = 0ERPM/s
Deceleration lim. = 0ERPM/s
Braking phase = 0A
Braking ph. at 0% throttle = 0A
Reverse = OFF
Cruise = OFF
Disable motor = OFF
Disable throttle = OFF
Active braking = OFF
Reverse on brake = OFF
Brake as clutch = OFF
Speed lim. at 0% throttle = OFF
Disable PAS = OFF
PAS scale = 100%
[Mode S3]
Throttle mode = Torque
Acceleration lim. = 0ERPM/s
Deceleration lim. = 0ERPM/s
Braking phase = 0A
Braking ph. at 0% throttle = 0A
Reverse = OFF
Cruise = OFF
Disable motor = OFF
Disable throttle = OFF
Active braking = OFF
Reverse on brake = OFF
Brake as clutch = OFF
Speed lim. at 0% throttle = OFF
Disable PAS = OFF
PAS scale = 100%
[PID regulators]
Square Ki = 0.0050
Square Kp = 0.250
FOC Ki = 130.0
FOC Kp = 0.300
FW Ki = 13.0
FW Kp = 0.020
DCv Ki = 1000
DCv Kp = 25.0
DCi Ki = 200
DCi Kp = 0.50
DCw Ki = 5.0
DCw Kp = 0.005
Speed Kp = 0.1000
Speed Ki = 0.0250
Speed Kd = 0.000250
PLL Kp = 1000
PLL Ki = 40000
Acceleration Kp = 0.00080
Acceleration Ki = 0.0200
[Motor setup]
Pole pair = 5
Spin direction = Forward
Gear ratio = 2.00
Integration thr. = 25.175V
Control mode = FOC
Max motor U = 95.0V
kV = 322.1eRPM/V
Phase resistance = 0.0203 Ohm
Inductance d = 71.0 uH
Inductance q = 103.1 uH
Flux linkage = 0.02928 Wb
FOC Optimisation = Efficiency
MTPA = ON
# Square wave settings:
Offset for square = 10�
Boost square current = ON
Boost current = 25A
Boost speed = 0.31 rad/s
[Observer]
Gain = 2333
Min gain % = 5%
Saturation compensation = Off
%L drop per A = 0.10%%L/A
[Motor t�-sensor]
�t max = 120.0 �C
Delta �t = 30.0 �C
Sensor type = KTY84
# # Value �t = 19.4 �C
# # �t resistance = 586 Ohm
Resistance offset = 0 Ohm
Temperature correction = OFF
GND wire resistance = 0 Ohm
Sensors current = 0 mA
# # Total current: = 0.0mA
[Hall settings]
Hall filter = Direction
State filter = 20ms
Min step filter = 199us
Direction filter = 10ms
Idle filter = 200ms
Disable pullup = OFF
# # Hall input = 000
# # Step = 0
Hall 0 = 3
Hall 1 = 1
Hall 2 = 0
Hall 3 = 1
Hall 4 = 0
Hall 5 = 0
Hall 6 = 0
Hall 7 = 0
Offset fwd 1 = -10�
Offset fwd 2 = -14�
Offset fwd 3 = 0�
Offset fwd 4 = 0�
Offset fwd 5 = 0�
Offset fwd 6 = 0�
Offset bkwd 1 = 0�
Offset bkwd 2 = 0�
Offset bkwd 3 = 0�
Offset bkwd 4 = 0�
Offset bkwd 5 = 0�
Offset bkwd 6 = 0�
[Encoder settings]
Steps = 4096
# Invert counter = ON
# Invert PWM = OFF
# Index Z = 3
# Offset Z FW = -10�
# Offset Z BW = -14�
== Debug information ==
# # Index = 0
# # Z-Index = 0
# # PWM Period = 2040us
# # PWM Width = 909us
# # Rad by index = -2.93rad
# # Rad by PWM = -2.93rad
[Battery]
Full charge = 1.10dV
Supply max = 84.00V
Supply min = 58.00V
Charge max = 20.0A
Discharge max = 140.0A
Power max = 0W
# # DC voltage = 72.41V
Adjust voltage = 0.0000%%
[Converter]
Enable = OFF
Auto-Enable = OFF
Detection threshold = 20Vph
Battery max I = 0.0A
Battery min I = 1.0A
Undercharge = 0.00V
Current drop delta = 1.0dV
Supply max I = 10.0A
Supply drop U = 3.00V
Max motor t� = 100��
MPPT = OFF
# # Battery I = 0.0�
# # Battery U = 72.4V
# # Charging power = 0.0W
# # Supply I = 0.0�
# # Supply U = 0.0V
[Status flags]
Reset? = OFF
# Max acceleration = 0
# Max deceleration = 0
Overload current = 0
# Overload = 0
# High V ripple = 0
Over-Field weakening = OFF
# Supply overvoltage = 0
# Supply undervoltage = 0
Controller overheat = OFF
Motor overheat = OFF
# Brake press count = 0
# Throttle error = 0
# Throttle lock = OFF
Control fail = OFF
# 12V protection = 0
Position sensor error = OFF
Square index error = OFF
Thread error = 0
PAS protection = OFF
Protection fail = OFF
ADC sample error = OFF
VBUS sample error = OFF
Voltage on phases = OFF
LEC = Ok
Receive w/error = 0
Sent w/error = 0
CAN state = Ok
# CAN RX = 377
# CAN TX = 142
# CPU Load = 32%
# Last reset flag = 111
[Clutch]
Mode = OFF
# # Phase amps = 0.0A
Start time = 5s
Start current = 1.5A
Detection time = 200ms
Acceleration = 50V/s
Hold (20%) = 1.0A
Hold (80%) = 2.2A
Hold enable time = 30s
Hold time = 2s
[Device information]
# Nucular Controller P24F
# Max supply = 95.0V
# Max current = 500.0�
# Encoder speed = 580kHz
# Firmware date 2025-01-22
# Firmware ver. 0.8.14 dev
# Loader date 2025-08-27
# Loader version HW7.0 B5.8
# Production date 2025-10-29
# Worked = 5kW*h
# t� middle 100h = 25.26�C
# t� middle = 30.94�C
# Current protections = 0
# Temperature protections = 0
# Voltage protections = 0
# Power cycle = 224
# Power-on time = 38 min
# - = 17 h
# -- = 0 days
[Debug information]
# Temp. controller = 25.5�C
# Temp. motor = 19.5�C
# DC current = 0.0A
# DC voltage = 72.4V
# AC current = 0.0A
# AC voltage = 0.0V
# Motor U0 = 1.6V
# System 12V = 13.1V
# System 5V = 5.0V
# RPM = 0
# ERPM = 0
# Hall input = 000
# Hall index = 0
# Throttle % = 0.00
# Brake % = 0.00
# Speed request = 23320
# Torque request = 0.0
# Fault Code = 0
# Torque limit = 500.0
# Temp CPU = 30.5 �C
[Extra parameters]
Disable button = Switch
Auto shutdown = OFF
Sleep time = 300 s
Lock at turn-on = ON
Speed calculation = ON
Circumference = 1890 mm
Motor sprocket = 14 t
Wheel sprocket = 48 t
Master-controller = OFF
Limit t� CPU = 105�C
Device ID = 7
Prefix 1 = None
Prefix 2 = None
CAN baudrate = 1000kb/s
Access level = User
[Port state]
# Enable button = ON
# I1 = OFF
# I2 = OFF
# I3 = ON
# I4 = OFF
# IO5 = OFF
# IO6 = OFF
# I7 = OFF
# I8 = OFF
# IO9 = OFF
# IO10 = OFF
# I11 = OFF
# IO12 = OFF
# I13 = OFF
# # Throttle = 0.837 V
# # Brake = 0.004 V
# # PAS An = 0.003 V
[I/O configuration]
Input filter = 0.10s
Speeds mode = Switch
Port I1 = Scyc
Port I2 = DTH
Port I3 = N
Port I4 = OFF
Port IO5 = OFF
Port IO6 = OFF
Port I7 = OFF
Port I8 = OFF
Port IO9 = OFF
Port IO10 = OFF
Port I11 = OFF
Port IO12 = OFF
Port I13 = OFF
CAN Port 1 = OFF
CAN Port 2 = OFF
CAN Port 3 = OFF
CAN Port 4 = OFF
CAN Port 5 = OFF
CAN Port 6 = OFF
CAN Port 7 = OFF
CAN Port 8 = OFF
CAN Port 9 = OFF
CAN Port 10 = OFF
CAN Port 11 = OFF
CAN Port 12 = OFF
CAN Port 13 = OFF
CAN Port 14 = OFF
CAN Port 15 = OFF
CAN Port 16 = OFF
PWM freq = 1kHz
PWM IO5 = Disabled
PWM IO5 Min = 20%
PWM IO5 Max = 100%
PWM IO5 t� Min = 60�C
PWM IO5 t� Max = 80�C
PWM IO6 = Disabled
PWM IO6 Min = 20%
PWM IO6 Max = 100%
PWM IO6 t� Min = 60�C
PWM IO6 t� Max = 80�C
[Pedal Assist System]
PAS = Disabled
PAS connection = 2-wire
Invert PAS = OFF
PAS poles = 48
PAS min freq. = 10 RPM
PAS max freq. = 50 RPM
# # PAS freq. = 0 RPM
PAS timeout = 0.25 sec
PAS filter = 5 Hz
Pressure scale = 55.5 Nm/V
Zero pressure = 1500 mV
Protection pressure = 3500 mV
Torque averaging = 2 turn/2
# # Torque = 0.0 Nm
# # Human watt = 0.0 W
Human watt min = 50 W
Human watt max = 300 W
Torque min = 10 Nm
Torque max = 50 Nm
Instant Torque = OFF
Start torque = 10 Nm
PAS min out = 0%
PAS max out = 100%
Default scale = 100%
Button step = 1%
# # Set scale = 100%
[Debug FOC]
# U Q = 0.0V
# U D = -0.0V
# I Q = 0.0A
# I D = 0.0A
# I Q reqest = 0.0A
# I D reqest = 0.0A
[Remote inputs]
# Throttle = 0.000V
# Brake = 0.000V
# Throttle % = 0.00
# Brake % = 0.00
# Neutral = OFF
# Brake = OFF
# Disable Motor = OFF
# Disable Throttle = OFF
# Disable PAS = OFF
# Reverse = OFF
# Speed mode: = N
[Logger]
Start logging = OFF
Stop logging = OFF
# # State = Off
# # Error code = 0
Start mode = Manual
Log time = Time step
Log rate = 20ms
Mode = Buffered
Continuous logging = OFF
Data averaging = Fast
Add header to log = OFF
# Data to log:
Battery Voltage = ON
Battery Current = ON
Motor Voltage = OFF
Motor Current = OFF
Wheel speed = OFF
Motor rad/s = ON
Motor RPM = OFF
Motor angle = OFF
Observer angle = OFF
Tmotor �C = OFF
Tfet �C = OFF
Raw hall input = OFF
Hall index = OFF
Throttle % = ON
Brake % = ON
FOC Vq = ON
FOC Vd = ON
FOC Iq = ON
FOC Id = ON
FOC Iq request = ON
FOC Id request = ON
Current phA = OFF
Current phB = OFF
Current phC = OFF
PAS frequency RPM = OFF
PAS torque Nm = OFF
PAS power W = OFF
Speed request = ON
Torque request = ON
Fault flag = OFF
Voltage phA = OFF
Voltage phB = OFF
Voltage phC = OFF
Acceleration = OFF
FOC Vq nosat = OFF
FOC Vd nosat = OFF
FOC phase ADC = OFF
[RC Control]
Input IO5 mode = Off
# # Input Freq. = 0.0HZ
# # Width = 0.00ms
Function = Throttle and brk.
# Throttle range
Throttle min = 1.70ms
Throttle max = 2.15ms
# Brake range
Brake min = 1.60ms
Brake max = 1.00ms
[Cruise]
Cruise = Disabled
Cruise restore = Disabled
Cruise EN time = 2.00 s
Cruise by throttle = 5%
Cruise level = Mixed
Cruise smoothness = 200ERPM/s
# Used for cruise activation:
Safe acceleration = 500ERPM/s
Min. speed = 10km/h
[Throttle/brake curves]
# Preset value not saved
Throttle preset = ?
Throttle start = 0%
Throttle 1 = 14%
Throttle 2 = 29%
Throttle 3 = 43%
Throttle 4 = 57%
Throttle 5 = 71%
Throttle 6 = 86%
Throttle end = 100%
Brake preset = ?
Brake start = 0%
Brake 1 = 14%
Brake 2 = 29%
Brake 3 = 43%
Brake 4 = 57%
Brake 5 = 71%
Brake 6 = 86%
Brake end = 100%
[Position sensor]
Sensor type = Encoder
Sensor mode = Sensors
Interpolate sensors = ON
Interpolation start = 20 rad/s
Frequency control = 2HZ
From sensors to s-less = 100 rad/s
[Statistics]
# Trip statistics.
# Wh used total = 0.0Wh
# Wh used = 0.0Wh
# Wh regen. = 0.0Wh
# Regen. % = 0.0%
# Ah used total = 0.000Ah
# Ah used = 0.000Ah
# Ah regen. = 0.000Ah
# Min bat. voltage = 72.4V
# Max phase curr. = 0.0A
# Peak power = 0W
# Max motor temp. = 19�C
# Max controller temp. = 25�C
# Values are approximate!
# Motor efficiency = 0.0%
# Eff. average = 0.0%
# Torque = 0.0Nm
# Power out = 0.0W
# Power in = 0.0W