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ESC32 2r1 user manual - version 0.0
User configurable parameters:
Generally, no parameters will need to be changed for normal out of the box PWM operation. However, there are various parameters that can be set . Each
parameter is a single numerical value. Note that some combinations of parameters can cause damage to your motor or ESC. It is recommended to leave most
values at their default values unless you are sure of how they impact function and operation.
Parameter
Factory Default
Description
STATUP_MODE
0
This is the run mode that the ESC defaults to when first powered on. 0 == normal open loop operation,
1 == closed loop RPM mode, 2 == closed loop thrust mode (not yet implemented)
BAUD_RATE
230400
The UART baud rate. Allowable range 9600 to 921600
PTERM
0.5
The P term for the RPM PI controller
ITERM
0.0006
The I term for the RPM PI controller
FF1TERM
0.0
Feed forward terms used for the RPM controller. Closed loop RPM mode will not function until FF1 &
FF2 terms have been set.
FF2TERM
0.0
These values should be calculated using the esc32Cal program with the --r2v option
CL1TERM
0.0
CL1TERM through CL5TERM are used by the virtual current limiter which will not function until they are
set.
CL2TERM
0.0
If CL1TERM through CL5TERM is not set, a PI controller will be used for current limiting instead.
CL3TERM
0.0
CL1TERM through CL5TERM can be calculated using the esc32Cal program with the --cl option.
CL4TERM
0.0
CL5TERM
0.0
SHUNT_RESISTANCE
0.5
This parameter should
NOT be changed
from the factory default!!! (Value in milliohms)
