Motor Controller - Initial Testing

We started motor controller testing today after finally finding the datasheet for the sensor adapter board. After connecting the motors to the WS22 and that to the HV power supply (we used 60V with a 20A current limit when spinning the motor), we used the CAN ethernet bridge that came with the WS22 and a power supply for the bridge and supplying 12V to the W22. We also connected the hall effect inputs to the sensor board and that to the WS22. We used a 91kOhm resistor for the temp sense input on the sensor adapter board.

Following the user manual and wsconfig sw manual, we setup the config wizard and a ethernet to CAN config wizard as well. For some reason, it only worked on Hunter's windows machine instead of Jess' (the onyl difference seemed to be it didn’t work on a slightly newer OS, but that could be a stretch). Following the instructions (finally) we ran phasor sense and generated the following graph

we then ran paramextract and kept running it until the dashed blue line and red curve lined up (the algorithm makes sure that it’s close enough if the motor does not spin anymore while running it)

With that, running the controls and setting the RPM then current percentage got the motor spinning! The next step is to control the motors over CAN instead of the config wizard, but seeing it turn is pretty great!

Refer to the motor controller documentation page for all the relevant manuals and pinouts.