Wireless Emergency Stop (WES) for VESC 75/300 Drive Motor

[narekboghozian]

Let's discuss the technical details for WES on the VESC here. It looks like it's going to be rather straight forward?

[narekboghozian]

From @jacksilb :

https://vesc-project.com/node/3426 - VESC Forum

Kill switch input. When this input is active the motor is disabled and optionally braking if timeout_brake_current is greater than 0. The kill switch overrides all other inputs and can be used as an emergency stop.

The following modes can be used:

Disabled
No kill switch is used.

PPM Low
The kill switch is active when the PPM input goes low.

PPM High
The kill switch is active when the PPM input goes high.

ADC2 Low
The kill switch is active when the ADC2 input goes low.

ADC2 High
The kill switch is active when the ADC2 input goes high.

[cxemb]

Just got caught up with Jack on this. doesn't look too bad but will update here if I run into any issues.

[cxemb]

David and I came to the conclusion that we should use the ADC Low option for the Kill Switch setting, but it seems like we don't have the right 8-pin JST connector for the ADC2 and GND pins on the 75/300 VESC to go to the WES relay. Working on a solution for that

[jacksilb]

If you tell me what connectors to get, I can order all kind of sizes ASAP. Amazon is better for us. Thank you Jack

[narekboghozian]

@jacksilb you just beat me to it... Let's have those ordered today and they should come in by this weekend.

@cxemb Do you have a diagram for all this?

[jacksilb]

1, 1.25, 2, 2.5 mm? Female or male?

[jacksilb]

2.0 it seems.

https://vesc-project.com/node/36

[cxemb]

female and yes I think the 8-pin ones in this kit are the ones

[cxemb]

@narekboghozian quick diagram of wiring between VESC and WES relay board and actual wiring (edit: using 2 separate JST connectors for ADC2 and GND in the 75/300 VESC until the single correct connector comes in) is complete as well

[jacksilb]

Nice.

We can test RC robots tomorrow after we test the WES / ESC disable.

Thanks, -Jack

On Fri, Apr 15, 2022 at 3:48 PM cxemb @.***> wrote:

@narekboghozian https://github.com/narekboghozian quick diagram of wiring between VESC and WES relay board [image: VESC-WES-relay] https://user-images.githubusercontent.com/74472005/163650316-2dd11942-a0b0-4b5c-946e-89b5561f6a07.jpg and actual wiring is complete as well

— Reply to this email directly, view it on GitHub https://github.com/Triton-AI/evGoKart-electrical-system/issues/4#issuecomment-1100452410, or unsubscribe https://github.com/notifications/unsubscribe-auth/AFRYZFPSHOSTEIBPZNWIJGLVFHWZ3ANCNFSM5TOTLS6A . You are receiving this because you were mentioned.Message ID: @.***>

[cxemb]

finished the red JST 2-pin male connector from the WES relay, and had already done the red JST 2-pin female connector for the white 8-pin connector from the VESC. Is this what the "In" and "Out" node that is Velcroed on the VESC for?

[jmsanjua]

Hey @narekboghozian , I had a question on the new Relay circuit that you made for the WES that connects to the VESC. All that goes into the circuit is the signal from the WES/Radio? Do we need to provide some other voltage to the circuit?

[narekboghozian]

@cxemb if I understand your question correctly then yes. I explained it in detail to @brenner-lim since he was there. If you see him, ask him to make sure.

@jmsanjua that's right. Input to the red WES relay is just the 3.3v signal from the LLR. Output goes to the VESC. It is important to note that the VESC ADC pin that you're using needs to have its pull-up resistor enabled for this to work.

[jacksilb]

@narekboghozian " It is important to note that the VESC ADC pin that you're using needs to have its pull-up resistor enabled for this to work. " How do we know if the VESC has this on hardware or software? Did you check?

[narekboghozian]

Here's the circuit. It's pretty straight forward: #14

[jacksilb]

@cxemb

We need to place a heat shrink on the ME 1719 motor sensor cable so the small wires are protected.

[narekboghozian]

How do we know if the VESC has this on hardware or software? Did you check?

I don't have the model number of the chip, but I believe it does since I had to check the resistance value they have. I didn't do anything thorough however since @jacksilb you had determined that it would be the pullup based circuit.

Initially I was going to have it connect to its actual power source so the pullup strength would be higher. That would have allowed for a more noise proof design as well.

[jacksilb]

Got it.

@jmsanjua there is one way to find out. Let's test it. See if the VESC gets disabled.

[cxemb]

@jacksilb here is a link to 3/16" heat shrink for ME1719 sensor wires. Just finished evening out the lengths of the wires.

[jacksilb]

I am getting few different sizes

[jacksilb]

And got some sleeves too. Probably better to protect cables in general. I will show you what I mean