Throttle Application

1. Introduction

1.1 Overview

The Throttle application allows the user to implement a simple throttle control directly on the emDrive. Input devices can be connected directly to the emDrive and mapped to the throttle application. The application calculates the desired output based on these inputs and passes it to motor control. The output can be used as either a torque input or a speed input in the motor controller, depending on which CANOpen object the output is mapped to. No further configuration is needed to switch the application from one output mode to the other.

1.2 Features

The Throttle application supports the following features:

• Throttle Module
  Functionality: Calculates the desired output based on mapped input and configuration parameters.
  Capabilities: Can be configured as unidirectional or bidirectional.
• Brake Module
  Functionality: Calculates the desired brake torque based on mapped input and configuration parameters.
  Capabilities: Unidirectional only, with brake torque always in the opposite direction to motor rotation.

  Note that if the desired output is speed, the brake should be disabled.

• Pump Control Module
  Functionality: Controls the pump, turning it on or off depending on motor and drive temperature.
• Pre-charge Module
  Functionality: Manages the pre-charge process at startup.
• DC-DC Turn On Delay Module
  Functionality: Delays the activation of the DC-DC converter after startup to ensure controlled power application.
• SOC Monitoring Module
  Functionality: Monitors the State of Charge (SOC) of the battery.
  Capabilities: Reduces the maximum allowed torque when SOC is below a specified threshold.

  Requires an external Battery Management System (BMS) to operate correctly.

• Charging Detection Module
  Functionality: Detects when the battery is charging and disables the drive during the charging process.
• Input Mapping
  Functionality: Allows certain inputs to the throttle application to be mapped to CAN objects on the emDrive.

All throttle application features can be independently enabled or disabled (except the brake module, which requires the throttle module to be enabled). This is done by setting the Thr1_Enable CAN objects of the throttle application as detailed in Table 1.

Table 1: Thr1_Enable CAN object

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Enable	0x4010	0x00	Enables the throttle application: 0 – disabled 1 – enabled (must be enabled for any modules to work)	/
Thr1_Enable__Throtle	0x4011	0x03	Enables the throttle module: 0 – disabled 1 – enabled	Bit
Thr1_Enable__Brake	0x4011	0x04	Enables the brake module: 0 – disabled  1 – enabled (throttle must also be enabled)	Bit
Thr1_Enable__Pump	0x4011	0x05	Enables the pump control module: 0 – disabled 1 – enabled	Bit
Thr1_Enable__Precharge	0x4011	0x06	Enables the pre-charge module: 0 – disabled  1 – enabled	Bit
Thr1_Enable__DC_DC	0x4011	0x07	Enables the DC-DC turn on delay module: 0 – disabled  1 – enabled	Bit
Thr1_Enable__SOC	0x4011	0x08	Enables the SOC monitoring module: 0 – disabled  1 – enabled	Bit
Thr1_Enable__ChargingDetBitect	0x4011	0x09	Enables the charging detection module: 0 – disabled  1 – enabled	Bit

2. Input and Output mapping

Input and output mapping for the Throttle application is managed using the Thr1_Obj object, which stores the CANOpen indexes and subindexes of the inputs and outputs mapped to the Throttle application variables. You can remap any variable to a different input by writing the CANOpen index and subindex of the new input to the corresponding Thr1_Obj sub-object.

The following table outlines the object mapping parameters for the Throttle application. Each object in the table represents a specific function or control point within the application, and the corresponding CANOpen index and subindex define where these objects are located in the CANOpen network. By configuring these parameters, users can tailor the Throttle application to their specific needs, ensuring precise control and monitoring of various functions.

By correctly configuring these object mappings, users can ensure that the Throttle application communicates accurately with the various inputs and outputs connected to the emDrive. This flexibility allows for precise control of throttle, brake, pump, and other critical functions, enhancing the overall performance and reliability of the system.

Table 2: Object mapping parameters

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Obj__AppControl	0x4012	0x01	Address of CAN object where commands are sent to application	Obj
Thr1_Obj__AppState	0x4012	0x02	Address of CAN object where application state is saved	Obj
Thr1_Obj__ThrotleVoltage	0x4012	0x03	Address of CAN object with throttle input	Obj
Thr1_Obj__ThrotleFWD_DIvalue	0x4012	0x04	Address of CAN object to forward switch  input	Obj
Thr1_Obj__ThrotleREW_DIvalue	0x4012	0x05	Address of CAN object to reverse switch  input	Obj
Thr1_Obj__TargetObj	0x4012	0x06	Address of CAN object where output torque  of throttle application is written	Obj
Thr1_Obj__BatValid	0x4012	0x07	Address of CAN object which stores BMS  status.	Obj
Thr1_Obj__BatSOC	0x4012	0x08	Address of CAN object which stores battery  SOC in percentage	Obj
Thr1_Obj__BatState	0x4012	0x09	Address of CAN object which stores battery  state	Obj
Thr1_Obj__ChargingDetectDIvalue	0x4012	0x0A	Address of CAN object which shows if  charging is detected. If not 0 throttle  application considers battery to be charging.	Obj
Thr1_Obj__MainPumpEnableDO	0x4012	0x0B	Address of CAN object with main pump  enable control	Obj
Thr1_Obj__CoolingPumpEnableDO	0x4012	0x0C	Address of CAN object with cooling pump  enable control	Obj
Thr1_Obj__CoolingInputTemperature1	0x4012	0x0D	Address of CAN object with temperature  input 1 (default bridge heatsink temp)	Obj
Thr1_Obj__CoolingInputTemperature2	0x4012	0x0E	Address of CAN object with temperature  input 2 (default motor temp)	Obj
Thr1_Obj__DCDCenableDO	0x4012	0x0F	Address of CAN object with DC-DC enable  control	Obj
Thr1_Obj__BuzzerDO1	0x4012	0x10	Address of CAN object with buzzer high side  enable control	Obj
Thr1_Obj__BuzzerDO2	0x4012	0x11	Address of CAN object with buzzer low side  enable control	Obj
Thr1_Obj__BrakeVoltage	0x4012	0x12	Address of CAN object with break input	Obj
Thr1_Obj__RPM_in	0x4012	0x13	Address of CAN object with RPM data	Obj
Thr1_Obj__MainRelayEnableDO	0x4012	0x14	Address of CAN object with main relay  enable contro	Obj
Thr1_Obj__PrechargeRelayEnableDO	0x4012	0x15	Address of CAN object with pre-charge relay  enable control	Obj
Thr1_Obj__PrechargeDC_voltage	0x4012	0x16	Address of CAN object with measured  voltage during pre-charge procedure	Obj

2.1 Examples

2.1.1. Configuring an object to be used in in the application (e.g. for Thr1_Obj__ThrottleVoltage)

All mapping of object to the application are done in the same way. For relays (digital outputs), switches (digital inputs), torque & velocity reference,... The main point is to show that you need to combine index and subindex of the object you want to use in your throttle application.

For example, to map the throttle voltage input to the emDrive analog input 1 (which has a CANOpen object HW_AIN_AIN1 with index 0x3090 and subindex 0x01 as shown in the picture bellow), you would write 0x309001 to Thr1_Obj__ThrottleVoltage.
To read if the correct value is written you need to use the HEX value (black circle).

3. How to Use Each Module

3.1 Initial Setup Assumptions

This document assumes that the angle sensor calibration has already been completed by the user, and that all other emDrive parameters for the motor and regulation have been properly configured. Before using any module we have to enable the CANOpen object Thr1_enable with index 0x4010 and subindex 0x00, for that we have to write 1 to the "value" field.

4010 - Thr1_enable = 1

3.2 Pre-charge Module

The Pre-charge module limits the charging current of the emDrive capacitors by activating the pre-charge relay switch before the main relay switch is engaged. The pre-charge relay switch has a resistor connected in series, which limits the current during the capacitor charging phase.

Note that the main and pre-charge relay switches are not integrated within the emDrive and must be provided externally. For more details, refer to section 5.4 of the EmDrive user manual.

For readability and clarity, the following abbreviations are used:

• The pre-charge relay switch refers to Thr1_Obj__PrechargeRelayEnableDO
  
• The main relay switch refers to Thr1_Obj__MainRelayEnableDP

The sequence begins with the activation of the pre-charge relay switch. After the duration specified by the Thr1_Precharge__PrechargeTime parameter (default is 2 seconds), the drive voltage is checked. If the voltage does not exceed the threshold set by the Thr1_Precharge__MinDC_Voltage parameter, an error state is reported. If the voltage is above this threshold, the main relay switch is activated. Finally, after the time specified by the Thr1_Precharge__DelayAfterMainClose parameter has elapsed, the pre-charge relay switch is turned off, and the run state is set to true, activating the throttle and brake functionality. Additionally, we have a diagram illustrating the above functionality. It is assumed that after the pre-charge time, the DC voltage exceeds the set threshold, thus no error state is encountered.

To set this module you have to set all of the objects in table 3 and also use the correct mapping for Thr1_Obj__PrechargeRelayEnableDO and Thr1_Obj__MainRelayEnableDP.

Table 3: Pre-charge module parameters

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Precharge__PrechargeTime	0x4016	0x01	Time to wait after pre-charge relay switch is  activated before voltage is checked	s
Thr1_Precharge__DelayAfterMainClose	0x4016	0x02	Time to wait before pre-charge relay switch  is deactivated after the main relay switch  has been activated	s
Thr1_Precharge__MinDC_Voltage	0x4016	0x03	Minimum voltage that must be present on  drive capacitors in order to not enter error  state	V

Known bug:
Thr1_Precharge__DelayAfterMainClose: The name and description of this object in the configurator are incorrect.
The proper name should be: DelayAfterPrechargeOff. 
The description should be: "After the Main relay is activated, we wait for the DelayAfterPrechargeOff time, then we deactivate the precharge relay."

You can also verify whether the pre-charge completed successfully or if an error occurred using the pre-charged module signals.

Table 4: Pre-charge module signals

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Precharge__Run	0x4016	0x04	Set to 1 when pre-charge is successfully finished	bit
Thr1_Precharge__Err	0x4016	0x05	Set to 1 if there was an error during pre-charge	bit

3.2.1 Examples

- Pre-charge example 1

Description:
In this example, we will use the precharge module. For this, we need two relays: the main relay and the precharge relay. We also need to determine the voltage threshold for activating the main relay and the correct timings, which are described in Section 3.2.

Relay Connections
Main Relay: Connected to HW_LS1 = 0x30A0 0x02
Precharge Relay: Connected to HW_LS2 = 0x30A1 0x02
Voltage Measurement
The voltage will be measured using the inverter, which is the standard method (0x3101 0x07 Udc).

Timings
Precharge Time: 2 seconds
Time After Precharge Relay Turns Off: 0.5 seconds
Voltage Threshold
The voltage threshold for activating the main relay is 24V.

Objects to set:

1. 1. Enable Throttle Application:
      
      0x4010 - Thr1_enable = 1
      
   2. Enable the Precharge Module:
      
      Use the throttle general object 0x4011 Thr1_Gen to enable the proper module.
      
      0x4011 0x06 Precharge = 1
      
   3. Map Objects to the Application:
      
      Choose the proper digital outputs to control the main relay and precharge relay:
      
      e.g:
      As per description we have the main relay connected to HW_LS1 and the precharge relay connected to HW_LS2. The object indexes are as follows:
      
      HW_LS1 = 0x30A0 0x02
HW_LS2 = 0x30A1 0x02
      
      We set the following:
      
      0x4012 0x14 MainRelayEnableDO = 0x30A002
0x4012 0x15 PrechargeRelayEnableDO = 0x30A102
      
      Voltage that is measured can be set but it is recommended to use default (0x3101 0x07 Udc), to change the object use the following:
      
      0x4012 0x16 PrechargeDC_Voltage = 0x310107
      
      
2. Configure the Precharge Module:
   
   Set the precharge time:
   
   0x4016 0x01 PrechargeTime = 2
   
   Set the time after the precharge relay is turned off:
   
   0x4016 0x02 DelayAfterMainClose = 0.5
   
   Set the minimum voltage that must be present:
   
   0x4016 0x03 MinDC_Voltage = 24
   
   
3. Save and Reset:
   
   Save the settings (Ctrl+S) and perform a reset.
   Switch to operational mode.
   Test
   Enable auto start if everything works correctly (inverter will always go to operational mode after reset).
   
   0x3000 0x03 AutoStart = 1

3.3 Throttle module

The throttle module is responsible for calculating the desired output torque based on the given input voltage. It provides features such as short to ground and short to power supply detection, reading forward and reverse switches, rate-limiting the output, and disabling the throttle when the brake is active. Below is a detailed guide on the state diagram and parameter settings for the throttle module.

Table 5: Throttle module parameters

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Throtle__ZeroValue	0x4013	0x01	At this input value output is zero.	V
Thr1_Throtle__ZeroDeadBand	0x4013	0x02	Defines how large zero dead band is	V
Thr1_Throtle__EnableDeadBand	0x4013	0x03	Defines how large enable dead band is.  Should be lesser or equal to zero dead  band.	V
Thr1_Throtle__MaxInput	0x4013	0x04	At this input value output is at maximum  value defined in  Thr1_Throtle__OutFullPositive	V
Thr1_Throtle__MinInput	0x4013	0x05	At this input value output is at minimum  value defined in  Thr1_Throtle__OutFullNegative	V
Thr1_Throtle__NonValidMax	0x4013	0x06	Any input value grater then this will put  throttle module into error state	V
Thr1_Throtle__NonValidMin	0x4013	0x07	Any input value lesser than this will put  throttle module into error state	V
Thr1_Throtle__Progressive	0x4013	0x08	Determines how the output torque changes  in relationship to the input between zero  value and max value.	/
Thr1_Throtle__Invert	0x4013	0x09	Inverts output	Bit
Thr1_Throtle__RateLimit	0x4013	0x0A	Limits how fast output can change.	1/s
Thr1_Throtle__OutFullPositive	0x4013	0x0B	Output when input reaches max input defined in Thr1_Throtle__MaxInput	/
Thr1_Throtle__OutFullNegative	0x4013	0x0C	Output when input reaches min input defined in Thr1_Throtle__MinInput	/
Thr1_Throtle__DissableAtBrake	0x4013	0x0D	If 1, throttle is disabled when brake is  active. If 0 throttle and brake output are  summed.	Bit
Thr1_Throtle__WaitBeforeBridgeDisable	0x4013	0x0E	How long to wait before bridge is disabled after bridge disable request is received.	s
Thr1_Throtle__WaitAfterStart	0x4013	0x0F	How long to wait after startup before  operational state is entered	s

Table 6: Throttle module signals

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Throtle__InVoltage	0x4013	0x10	Input signal	V
Thr1_Throtle__OutNorm	0x4013	0x11	Normed throttle output (-1 full negative, 1 full  positive)	/
Thr1_Throtle__Out	0x4013	0x12	Output in system units	/
Thr1_Throtle__TotalOut	0x4013	0x13	Sum of outputs of throttle module and brake  module	/
Thr1_Throtle__Enabled	0x4013	0x14	If 1 throttle is enabled	Bit
Thr1_Throtle__State	0x4013	0x15	Reports the state of throttle module. 1 -> Start,  2 -> WaitForNeutral, 3 -> Idle, 4 -> Driving, 5 ->  Error, 6 -> Charging, 7 -> WaitForSpeedDrop, 8 -> WaitForSpeedDropChargingError, 9 -> ErrorEntry, 10 -> WaitForSpeedDropInit	/
Thr1_Throtle__Err	0x4013	0x16	If 1, throttle module is in error state	Bit
Thr1_Throtle__ErrCode	0x4013	0x17	Reports on error state of the entire Throttle  application. 0x01 -> throttle error, 0x02 -> precharge error, 0x04 -> drive low level error, 0x08 -> brake error	/

3.3.1 State Diagram

The state diagram for the throttle module consists of several states and transitions, ensuring the correct operation and safety of the system.

Startup State

• Buzzer Activation: Upon system start, the buzzer is activated if an external buzzer is connected.
• Wait Time: The system waits for the duration specified by the parameter Thr1_Timing__WaitAfterStart to complete the startup.
• Error Check: If an error is detected during startup, the system transitions directly to the Error State.

Operational State

• Buzzer Deactivation: The buzzer is disabled upon entering the operational state.
• RPM Check: The system waits for the RPM to drop to 0, if it is not already there.
• Bridge Disable: The bridge is disabled, and the system waits for the throttle to be set to zero.

Idle State

• Idle Mode: The system enters the Idle State, waiting for the input to move out of the zero position.

Driving State

• Throttle Enabled: If the input moves out of the zero position and the throttle is enabled, the system transitions to the Driving State.
• Bridge Enable: The bridge is enabled, and the output is forwarded to motor control.

WaitForNeutral State

• Throttle Disabled: If the throttle is disabled and the output moves out of the zero position, the system returns to the WaitForNeutral State.

WaitForSpeedDrop State

• Output Set to 0: When the throttle is disabled during the Driving State (either due to Thr1_Enable__Throttle being set to 0, input within the disable dead band, or outside allowed values), the system enters the WaitForSpeedDrop State.
• RPM Check: The output is set to 0, but the bridge remains enabled until the RPM drops below the value specified by Thr1_Brake__Full_RPM.
• Wait Time: The system waits for the time configured in Thr1_Timing__WaitBeforeBridgeDisable.
• State Transition: The state changes to Idle or WaitForNeutral based on whether the input is at zero or not.

Charging State

• RPM Drop: If charging is detected during the operational state, the system waits for the RPM to drop.
• Bridge Disable: The system moves to the Charging State, where the bridge is disabled.
• Return to Operational: When charging is no longer detected, the system returns to the operational state.

Error State

• Error Detection: If an error is detected in any state, the system transitions to the Error State.
• Bridge Disable: The bridge is disabled, and the buzzer is activated.
• RPM Check: In case of an error during the operational state, the system waits for the RPM to drop before disabling the bridge.
• Priority to Error State: If both charging and an error are detected simultaneously, the system prioritizes transitioning to the Error State.
• System Reset: There is no automatic recovery from the Error State; the system must be manually reset.

3.3.2 Input to Output Transformation

The input to output transformation converts the input voltage of the analog input to output torque, which is forwarded to motor control if the throttle is enabled. The basic transformation is illustrated in the graph below.

• Thr1_Throttle__ZeroValue: Defines the zero point of the input.
• Thr1_Throttle__ZeroDeadBand: Defines the dead band around the zero point. While the input voltage is within this dead band, the output remains zero.
• Thr1_Throttle__MinInput: Minimum valid input voltage.
• Thr1_Throttle__MaxInput: Maximum valid input voltage.
• Thr1_Throttle__OutFullPositive: Maximum positive output torque.
• Thr1_Throttle__OutFullNegative: Maximum negative output torque.
• Thr1_Throttle__NonValidMin: Minimum input voltage considered valid.
• Thr1_Throttle__NonValidMax: Maximum input voltage considered valid.

The transformation includes the following regions:

• Zero Dead Band:

  • Defined by Thr1_Throttle__ZeroValue and Thr1_Throttle__ZeroDeadBand.
  • Output remains zero when input voltage is within the dead band.

• Positive Torque Region:

  • From the end of the dead band to Thr1_Throttle__MaxInput, the output rises in the positive direction from 0 to Thr1_Throttle__OutFullPositive.
  • Output is calculated as y=x^a​ , where $y$ is the normalized output (0 at 0 and 1 at Thr1_Throttle__OutFullPositive), $x$ is the normalized input (0 at the edge of the dead band and 1 at Thr1_Throttle__MaxInput), and $a$ is the parameter Thr1_Throttle__Progressive, which ranges between 0.3 and 3. The default value for $a$ is 1, indicating a linear growth of output torque.

• Negative Torque Region:

  • From the end of the dead band to Thr1_Throttle__MinInput, the output falls in the negative direction.
  • Output is calculated as y=−∣x∣^a

• Constant Max Torque Region:

  • Between Thr1_Throttle__MaxInput and Thr1_Throttle__NonValidMax, the output remains at maximum positive torque.
  • Between Thr1_Throttle__MinInput and Thr1_Throttle__NonValidMin, the output remains at maximum negative torque.
  • If the input value increases beyond Thr1_Throttle__NonValidMax or decreases beyond Thr1_Throttle__NonValidMin, the output torque is set to 0 and the throttle module enters the error state.

This transformation ensures that the throttle application accurately converts the input voltage into the appropriate output torque for motor control, with safeguards in place to handle invalid input values and prevent unintended behaviour.

3.3.3 Other throttle module functions

Enable dead band

Enable Dead Band functions similarly to Zero Dead Band. However, instead of setting the throttle output to 0, it disables the driver bridge when the input is less than a specified distance from the zero point. This distance is determined by the Enable Dead Band threshold. To disable Enable Dead Band, set its value to 0.

Ensure this threshold is always smaller than the Zero Dead Band threshold to prevent unusual behaviour.

Disable at brake

When the parameter 0x4013 0x0D DissableAtBrake is set to 1, the throttle module output is set to zero whenever the brake is active. This means that as soon as the brake is applied, the EmDrive system will start braking immediately, regardless of the throttle input.

When the parameter 0x4013 0x0D DissableAtBrake is set to 0, the throttle and brake outputs are combined before being sent to motor control. In this case, the EmDrive system will only start braking if the brake output is greater than the throttle output.

Rate limit

The rate limit controls how quickly the output can change in response to changes in the input (Higher the number, faster the change). This is determined by the parameter 0x4013 0x0A RateLimit.

When the input changes from 0 to 1 (works on normed value), the output will change from 0 to 1 in 1 / RateLimit seconds.

3.3.4 Examples

- Throttle example 1

Description:
Monodirectional throttle using only one analog input.

In this example, we will use a potentiometer as our throttle input. Our goal is to control the motor in velocity mode, ranging from 0 to 100 RPM.

Throttle Input Details
Potentiometer: Used as the throttle input. Connected to AIN3 = 0x3090 0x03
Voltage and RPM Control
Error Condition: If the voltage from the potentiometer is lower than 0.2V or higher than 4.8V, an error will occur (indicating a possible short or broken connection).
0 RPM: At 0.5V, the motor should run at 0 RPM.
100 RPM: At 4.5V, the motor should run at the maximum speed of 100 RPM.

Objects to set:

1. 1. Enable Throttle Application:
      
      0x4010 - Thr1_enable = 1
      
   2. Enable the Throttle Module:
      
      Use the throttle general object 0x4011 Thr1_Gen to enable the proper module.
      
      0x4011 0x03 Throtle = 1
      
      
   3. Map Objects to the Application:
      
      Choose the reference value to control (velocity or torque) and map analog/digital inputs and outputs.
      
      To control velocity:
      
      0x4012 0x06 TargetObj = 0x301005
      
      To control torque:
      
      0x4012 0x06 TargetObj = 0x301004
      
      Set the control mode (0 for torque, 1 for velocity):
      
      0x3100 0x01 ControlMode = 0 or 1
      
      Define the analog throttle input (potentiometer on AIN3):
      
      0x4012 0x03 ThrottleVoltage = 0x309003
      
      
      
   4. Configure the Throttle Module:
      
      Set the throttle voltage parameters as  explained in Section 4.2:
      
      0x4013 0x01 ZeroValue = 0.5
0x4013 0x04 MaxInput = 4.5
0x4013 0x05 MinInput = 0.5
0x4013 0x06 NonValidMax = 4.8
0x4013 0x07 NonValidMin = 0.2
      
      Set the maximum and minimum TorqueRef or VelocityRef:
      In this example we will use max = 100rpm and min = 0rpm
      
      0x4013 0x0B OutFullPositive = 100
0x4013 0x0C OutFullNegative = 0
      
      
      
   5. Save and Reset:
      
      Save the settings (Ctrl+S) and perform a reset.
      Switch to operational mode.
      Test
      Enable auto start if everything works correctly (inverter will always go to operational mode after reset).
      
      0x3000 0x03 AutoStart = 1
      
      
      
      

- Throttle example 2

Description:

In this example, we will use the same potentiometer as in Throttle Example 1. The main difference is that this setup allows for bidirectional control of the throttle. Here’s how it works:

• At 2.5V, the motor will be at 0 RPM.
• At 4.5V, the motor will run at 100 RPM.
• At 0.5V, the motor will run at -100 RPM (in reverse).

This setup enables you to control the motor speed and direction using a single analog input.

Objects to set:

1. 1. Same as example "Throttle example 1"
   2. Same as example "Throttle example 1"
   3. Same as example "Throttle example 1"
   4. Configure the Throttle Module:
      Set the throttle voltage parameters as  explained in Section 4.2:
      
      0x4013 0x01 ZeroValue = 2.5
0x4013 0x04 MaxInput = 4.5
0x4013 0x05 MinInput = 0.5
0x4013 0x06 NonValidMax = 4.8
0x4013 0x07 NonValidMin = 0.2
      
      Set the maximum and minimum TorqueRef or VelocityRef:
      In this example we will use max = 100rpm and min = -100rpm
      
      0x4013 0x0B OutFullPositive = 100
0x4013 0x0C OutFullNegative = -100
      
      Additionaly we have to set IsNegativeBrake 

0x4013 0x10 IsNegativeBrake = 0
      
      
   5. Same as example "Throttle example 1"
      
      
      

- Throttle example 3

Description:
In this example, we will use the same potentiometer as in Throttle Example 1, along with two additional digital inputs to control the motor's direction. 

Digital input 1 = 0x30B0 0x01 DIN1 - enable/disable positive throttle
Digital input 2 = 0x30B0 0x02 DIN2 - enable/disable negative throttle.

Objects to set:

1. 1. Same as example "Throttle example 1"
   2. Same as example "Throttle example 1"
   3. Same as example "Throttle example 1"
   4. Same as example "Throttle example 1"
      
      Additionally, we only need to map digital input objects for enabling forward/reverse throttle.
      
      e.g.
      We will use object 0x30B0 0x01 - DIN1 to enable/disable positive throttle.
      We will use object 0x30B0 0x02 - DIN2 to enable/disable negative throttle.
      
      So we need to set:
      
      0x4012 0x04 ThrottleFWD_Dlvalue = 0x30b001
0x4012 0x05 ThrottleREW_Dlvalue = 0x30b002
      
      If DIN1 and DIN2 are the same value, the throttle will not work. Only one of them can be 1 and the other 0.
      
      

      Currently the inverter does not support using only one physical input (e.g switch) to change direction. There must be two of them!
      

      
      Additionaly we have to set IsNegativeBrake 

0x4013 0x10 IsNegativeBrake = 0
      
      
   5. Same as example "Throttle example 1"

3.4. Brake module

The brake module implements the brake function within the throttle application, operating similarly to the throttle module but with a crucial difference: it always outputs torque in the opposite direction of the current rotation and supports only monodirectional braking. The brake can be assigned to a different analog input or share the same analog input as the throttle module, beneficial for configurations where monodirectional throttle is used. In such cases, one direction from the zero point can manage throttle control while the other handles brake control.

Table 7: Brake module parameters

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Brake__ZeroValue	0x4014	0x01	At this input value output is zero.	V
Thr1_Brake__ZeroDeadBand	0x4014	0x02	Defines how large zero dead band is	V
Thr1_Brake__EnableDeadBand	0x4014	0x03	Defines how large enable dead band is.  Should be lesser or equal to zero dead  band.	V
Thr1_Brake__MaxInput	0x4014	0x04	At this input value output is at maximum  value	V
Thr1_Brake__NonValidMax	0x4014	0x05	Any input value grater then this will put  throttle module into error state.	V
Thr1_Brake__NonValidMin	0x4014	0x06	Any input value lesser than this will put  throttle module into error state.	V
Thr1_Brake__Progressive	0x4014	0x07	Determines how the output torque  changes in relationship to the input  between zero value and max value.	/
Thr1_Brake__RateLimit	0x4014	0x08	Limits how fast output can change. Output  can change from 0 to 1 in  1/Thr1_Brake__RateLimit s	1/s
Thr1_Brake__OutFullPositive	0x4014	0x09	Output brake torque when input reaches  max input.	/
Thr1_Brake__OutZero	0x4014	0x0A	Output brake torque when input is at zero  point.	/
Thr1_Brake__Full_RPM	0x4014	0x0B	RPM below which brake torque is scaled  towards 0.	/

Table 8: Brake module signals

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Brake__InVoltage	0x4014	0x0C	Input signal	V
Thr1_Brake__OutNorm	0x4014	0x0D	Normed brake output (-1 full negative, 1 full  positive)	/
Thr1_Brake__Out	0x4014	0x0E	Output in system units	/
Thr1_Brake__Enabled	0x4014	0x0F	If 1 brake is enabled	Bit
Thr1_Brake__Err	0x4014	0x10	Brake error state

3.4.1 Input to Output Transformation

The input to output transformation functions in a similar manner to the input-output transformation of the throttle module. A typical example of this transformation is illustrated in the picture below.

The type of slope between the end of the zero dead band and Thr1_Brake__MaxInput is determined by the parameter Thr1_Brake__Progressive, similar to how it is for the throttle module. Additionally, the brake module can be configured to increase brake torque when the input decreases. This can be achieved by setting the parameter Thr1_Brake__MaxInput to a value smaller than Thr1_Brake__ZeroValue. The resulting input to output transformation for this configuration is illustrated in the picture below.

For both modes, it is essential to configure the parameters Thr1_Brake__NonValidMax and Thr1_Brake__NonValidMin. Failing to do so will result in incorrect operation of the short to ground and short to power supply error detection.

3.4.2 Examples

To use the brake module, you first need to configure the throttle module and ensure it works as expected.

- Brake example 1

Description:
Monodirectional throttle & brake using only one analog input.
In this example, a potentiometer is used to adjust voltage from 0V to 5V. The operational range is 0.2V to 4.8V. If the voltage goes outside this range, an error occurs.

Throttle and Brake Operation
Neutral Position: At 2.5V, the motor is in neutral.
Increasing Voltage: Raising the voltage above 2.5V speeds up the motor.
Decreasing Voltage: Lowering the voltage below 2.5V brakes the motor.

Before proceeding with this example, ensure you have completed and prepared a working setup of "Throttle Example 1" with torque control, not velocity. To achieve this, configure the following settings:

• Set Target Object: 0x4012 0x06 TargetObj = 0x301004
• Set Control Mode: 0x3100 0x01 ControlMode = 0
  

Objects to set:

1. Enable Throttle Application:
   
   0x4010 - Thr1_enable = 1
   
2. Enable the Throttle & Brake Module:
   
   0x4011 0x03 Throtle = 1 0x4011 0x04 Brake = 1
   
   
3. Map Objects to the Application:
   
   Torque control
   
   0x4012 0x06 TargetObj = 0x301004
   
   Check that torque mode is active if not set it with control mode = 0:
   0x3100 0x01 ControlMode = 0
   
   Define the analog throttle input (e.g., potentiometer on AIN3):
   
   0x4012 0x03 ThrotleVoltage = 0x309003
   
   Define the analog brake input (same as ThrotleVoltage in this example):
   
   0x4012 0x12 BrakeVoltage = 0x309003
   
   
   
4. Configure the Throttle Module:
   
   Set the throttle voltage parameters as  explained in Section 4.2:
   
   0x4013 0x01 ZeroValue = 2.5
0x4013 0x04 MaxInput = 4.5
0x4013 0x05 MinInput = 0.5
0x4013 0x06 NonValidMax = 4.8
0x4013 0x07 NonValidMin = 0.2
   
   Set the maximum and minimum TorqueRef 
   In this example we will use max = 10Nm and min = 0Nm (if there is no load) - BIDIRECTIONAL throttle must be dissabled (one of these must be 0) for using only one analog input as throttle and brake.
   
   0x4013 0x05 OutFullPositive = 10
0x4013 0x05 OutFullNegative = 0
   
   
   
5. Configure the Brake Module:
   
   Set the brake voltage parameters:
   
   0x4014 0x01 ZeroValue = 2.5
0x4014 0x04 MaxInput = 0.5
0x4014 0x05 NonValidMax = 4.8
0x4014 0x06 NonValidMin = 0.2 0x4014 0x09 OutFullPositive = 10
   
   
   
6. Save and Reset:
   
   Save the settings (Ctrl+S) and perform a reset.
   Switch to operational mode.
   Test
   Enable auto start if everything works correctly (inverter will always go to operational mode after reset).
   
   0x3000 0x03 AutoStart = 1

- Brake example 2

Description:

In this example, we will use two analog inputs to control the motor:

• Analog Input 1: Controls the throttle (motor speed).
• Analog Input 2: Controls the brake.

This setup allows you to manage both the acceleration and deceleration of the motor independently using separate analog inputs.

Objects to set:

1. Same as "Brake example 1"
2. Same as "Brake example 1"
3. Map Objects to the Application:
   
   Torque control
   
   0x4012 0x06 TargetObj = 0x301004
   
   Check that torque mode is active if not set it with control mode = 0:
   0x3100 0x01 ControlMode = 0
   
   Define the analog throttle input (e.g., potentiometer on AIN3):
   
   0x4012 0x03 ThrotleVoltage = 0x309003
   
   Define the analog brake input (e.g., potentiometer AIN2):
   
   0x4012 0x12 BrakeVoltage = 0x309002
   
   
   
4. Configure the Throttle Module:
   
   Set the throttle voltage parameters as  explained in Section 4.2:
   
   0x4013 0x01 ZeroValue = 0.5
0x4013 0x04 MaxInput = 4.5
0x4013 0x05 MinInput = 0.5
0x4013 0x06 NonValidMax = 4.8
0x4013 0x07 NonValidMin = 0.2
   
   Set the maximum and minimum TorqueRef 
   In this example we will use max = 10Nm and min = 0Nm (if there is no load) - BIDIRECTIONAL throttle must be dissabled (one of these must be 0) for using only one analog input as throttle and brake.
   
   0x4013 0x05 OutFullPositive = 10
0x4013 0x05 OutFullNegative = 0
   
   
   
5. Configure the Brake Module:
   
   Set the brake voltage parameters:
   
   0x4014 0x01 ZeroValue = 0.5
0x4014 0x04 MaxInput = 4.5
0x4014 0x05 NonValidMax = 4.8
0x4014 0x06 NonValidMin = 0.2 0x4014 0x09 OutFullPositive = 10
   
   
   
6. Same as "Brake example 1"
   
   
   

3.5. Pump control module

The Pump Control Module manages the operation of two pumps in the system: the main pump and the cooling pump.

• The main pump is activated whenever the throttle application is in the run state or when the cooling pump is active.
• The cooling pump is regulated by a simple hysteresis controller.

Activation: The cooling pump turns on if the temperature exceeds the threshold set in the Thr1_Pump__OnTemperature parameter.
Deactivation: The cooling pump turns off if the temperature drops below the threshold set in the Thr1_Pump__OffTemperature parameter.

Table 9: Pump control module parameters

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Pump__OnTemperature	0x4015	0x01	High threshold temperature	°C
Thr1_Pump__OFFTemperature	0x4015	0x02	Low threshold temperature	°C

Table 10: Pump control module signals

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Pump__InTemperature	0x4015	0x03	The temperature of the higher of the mapped  temperatures	°C

3.5.3 Examples

- Pump example 1

Description:

In this example we will control two pumps: main pump and cooling pump.

Main pump on LS3 0x30A2 0x02 Value  
Cooling pump on LS4 0x30A3 0x02 Value
Temperature at which we start the pump = 50 °C
Temperature at which we stop the pump = 60 °C

Objects to set:

1. Enable Throttle Application:
   
   0x4010 - Thr1_enable = 1
   
2. Enable the Pump Module:
   
   0x4011 0x05 Pump = 1
   
   
3. Map Objects to the Application:
   
   For this module the CoolingInputTemperature1 and CoolingInputTemperature2 are set by default. 
   Ctrl_Bridge__StatusHeatsinkTemp is mapped to CoolingInputTemperature1
Ctrl_Gen_Stat__MotorSensorTemp is mapped to CoolingInputTemperature2

0x4012 0x0D CoolingInputTemperature1 = 0x31CE00 
0x4012 0x0E CoolingInputTemperature2 = 0x31010A
   
   Next we need to map the digital outputs where our pumps are connected to. In this example we will use:
   Main pump on LS3 0x30A2 0x02 Value  
   Cooling pump on LS4 0x30A3 0x02 Value

0x4012 0x0B MainPumpEnableDO = 0x30A202
0x4012 0x0C CoolingPumpEnableDO = 0x30A302
   
   
   
   
4. Configure the Pump Module:
   
   Set the temperature at which the pump starts and stops.
   
   0x4015 0x01 OnTemperature = 60
0x4015 0x02 OffTemperature = 50
   
   
5. Save and Reset:
   
   Save the settings (Ctrl+S) and perform a reset.
   Switch to operational mode.
   Test
   Enable auto start if everything works correctly (inverter will always go to operational mode after reset).
   
   0x3000 0x03 AutoStart = 1
   
   

3.6. DC-DC turn on delay module

DC-DC turn on delay module enables an external DC-DC module with a delay after start-up. The delay time 
can be configured by setting parameter Thr1_DCDC__StartupDelay

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_DCDC__StartupDelay	0x4017	0x00	Delay time after which external DC-DC module is turned on	s

3.6.1 Examples

- DC-DC delay example 1

The relay is connected to LS2 0x30A1 0x02 Value  
DC-DC turn on delay set to 5s.

Objects to set:

1. Enable Throttle Application:
   
   0x4010 - Thr1_enable = 1
   
2. Enable the DC-DC Module:
   
   0x4011 0x07 DC_DC = 1
   
   
3. Map Objects to the Application:
   
   DC-DC relay is on LS2 0x30A1 0x02 Value

0x4012 0x0F DCDCenableDO = 0x30A102
   
   
   
4. Configure the DC-DC Module:
   
   Set the delay to 5s
   
   0x4017 0x00 Thr1_DCDC__StartupDelay = 5
   
   
5. Save and Reset:
   
   Save the settings (Ctrl+S) and perform a reset.
   Switch to operational mode.
   Test
   Enable auto start if everything works correctly (inverter will always go to operational mode after reset).
   
   0x3000 0x03 AutoStart = 1

3.7. SOC monitoring and charging detection module

The SOC (State of Charge) monitoring module and the charging detection module are implemented together due to their similarities. However, both modules can be enabled and disabled independently. SOC monitoring requires a Battery Management System (BMS) to detect SOC. Note that the BMS is not included in the emDrive. If SOC monitoring is needed, an independent BMS must be connected to the CAN bus.

3.7.1 SOC Monitoring Module

The SOC monitoring module tracks the SOC state as reported by the BMS.

• Behaviour:

  • If SOC drops below the level specified by the parameter Thr1_Bat__StartLimitingSOC, the module will start limiting the maximum output torque.
  • If SOC falls below the level specified by Thr1_Bat__EndLimitingSOC, the maximum torque output will be set to the value given in Thr1_Bat__EndLimitingThrottleOut.
  • When SOC is between Thr1_Bat__StartLimitingSOC and Thr1_Bat__EndLimitingSOC, the maximum torque is linearly reduced. The reduction goes from the maximum torque (as defined in the throttle module) at Thr1_Bat__StartLimitingSOC to the torque defined in Thr1_Bat__EndLimitingThrottleOut at Thr1_Bat__EndLimitingSOC.

• Throttle Limiting Speed:

  • Controlled by the parameter Thr1_Bat__ThrottleLimitRamp.
  • The limiting speed functions similarly to rate limiting in the throttle and brake modules, where throttle limiting can range from 0 to 1 in 1/Thr1_Bat__ThrottleLimitRamp seconds.

3.7.2 Charging detection Module

The charging detection module monitors whether the battery is being charged and reports this status to the throttle module.

• Behaviour::
  • If a BMS is present, the module queries the BMS to check if the battery is currently being charged.
  • Alternatively, the module can observe the state of the input mapped to the parameter Thr1_Obj__ChargingDetectDIvalue:
    • If the value is 1, the battery is considered to be charging.
    • If the value is 0, the battery is considered to be not charging.

This setup allows for accurate monitoring and management of the battery's state of charge and charging status, ensuring optimal performance and safety.

3.7.3 Parameters and signals overview

Table 11: SOC monitoring module and charging detection module parameters

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Bat__StartLimitingSOC	0x4018	0x01	SOC percentage at which throttle limiting starts.	%
Thr1_Bat__EndLimitingSOC	0x4018	0x02	SOC percentage at which throttle limiting is at  maximum	%
Thr1_Bat__EndLimitingThrotleOut	0x4018	0x03	Maximum torque output when throttle limiting  is at maximum.	/
Thr1_Bat__ThrotleLimitRamp	0x4018	0x04	Limits how fast throttle limiting can change.	1/s

Table 12: SOC monitoring module and charging detection module signals

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Bat__Valid	0x4018	0x05	If 0, no BMS is available	/
Thr1_Bat__SOC	0x4018	0x06	Battery SOC in percentage	%
Thr1_Bat__LimitThrotle	0x4018	0x07	Current throttle limit in system units	/
Thr1_Bat__LimitNorm	0x4018	0x08	Normed current throttle limit. (1 -> no limiting, 0  -> maximum allowed limit)	/
Thr1_Bat__Charging	0x4018	0x09	If 1, charging is detected. If 0 charging is not  detected.	Bit

3.7.4 Examples

- SOC example 1

Description:
In this example we first need a working example of Throttle module to control torque. 
Next we need the following values:

• Battery (BMS) calie/present
• SOC in percent
  

To achive this we can use the PDOs to get the values - in this example we will assume that we get the upper values via CAN and we set the values to our 0x2051 Customer_Data_16bit__Value. How to configure the PDOs refer to the user manual chapter 9.4-Data transfer – Process Data Object (PDO).

Battery (BMS) calie/present needs to be higher than 0, otherwise inverter thinks there is no BMS.

0x2051 0x01 Customer_Data_16bit__Value1 = Battery (BMS) calie/present (needs to be higher than 0)
0x2051 0x02 Customer_Data_16bit__Value2 = SOC in percent


We will start limiting the output when the battery has SOC = 10%
We will limit the output with a ramp of value 0.01 until we reach SOC = 5%, after which we stay at value 100Nm.

Objects to set:

1. 1. Enable the SOC Module:
      
      Use the throttle general object 0x4011 Thr1_Gen to enable the proper module.
      
      0x4011 0x08 SOC = 1
      
   2. Map Objects to the Application:
      
      As mentioned above we have the required date on the Costomer_Data_16bit_Values.
      
      Customer_Data_16bit__Value1 = 0x2051 0x01
Customer_Data_16bit__Value2 = 0x2051 0x02
      
      We set the following:
      
      0x4012 0x07 BatValid = 0x205101
0x4012 0x08 BatSOC = 0x205102
      
      
      
      
2. Configure the SOC Module:
   
   Set at what SOC percent we start limiting the output (at 10 %):
   
   0x4018 0x01 StartLimitingSOC = 10
   
   Set at what SOC percent we stop limiting the output (at 5 %):
   
   0x4018 0x02 EndLimitingSOC = 5
   
   Set what will the max value output be at the value EndLimitingSOC   (100Nm): 
   
   0x4018 0x03 EndLimitingThrotleOut = 100
   
   Set the ramp parameter for slope:
   
   0x4018 0x04 ThrotleLimitRamp = 0.01
   
   
   
3. Save and Reset:
   
   Save the settings (Ctrl+S) and perform a reset.
   Switch to operational mode.
   Test
   Enable auto start if everything works correctly (inverter will always go to operational mode after reset).
   
   0x3000 0x03 AutoStart = 1
   
   
   

- Charging detection example 2

Description:
You need a working throttle example.
As mentioned above we can detect charging with the state that is reported by BMS for that we need to get the state of the BMS in this example we will use method as in SOC example 1, where use the PDOs and save the state to Costomer_Data_16bit_Value.


Customer_Data_16bit__Value1 = 0x2051 0x01 = Battery (BMS) calie/present (needs to be higher than 0)
Customer_Data_16bit__Value3 = 0x2051 0x03 = State of BMS

Objects to set:

1. 1. Enable the SOCModule and ChargingDetect Module:
      
      Use the throttle general object 0x4011 Thr1_Gen to enable the proper module.
      
      0x4011 0x08 SOC = 1
0x4011 0x09 ChargingDetect = 1
      
   2. Map Objects to the Application:
      
      As mentioned above we have the required date on the Costomer_Data_16bit_Values.
      
      Customer_Data_16bit__Value1 = 0x2051 0x01
Customer_Data_16bit__Value3 = 0x2051 0x03
      
      We set the following:
      
      0x4012 0x07 BatValid = 0x205101
0x4012 0x09 BatState = 0x205103
      
      
      
2. Configure the ChargingDetect Module:
   
   With this module there is no other configuration needed. If the value on Customer_Data_16bit__Value3 == (charge = 4) or (charge_done = 5) -> driving is disabled. 
   
   
   
3. Save and Reset:
   
   Save the settings (Ctrl+S) and perform a reset.
   Switch to operational mode.
   Test
   Enable auto start if everything works correctly (inverter will always go to operational mode after reset).
   
   0x3000 0x03 AutoStart = 1

 

- Charging detection example 3

Description:
You need a working throttle example.
The next method is to detect charging with a digital input, for that we will use digital input 4.

0x30B0 0x04 DIN4

Objects to set:

1. 1. Enable the SOCModule and ChargingDetect Module:
      
      Use the throttle general object 0x4011 Thr1_Gen to enable the proper module.
      
      0x4011 0x08 SOC = 1
0x4011 0x09 ChargingDetect = 1
      
   2. Map Objects to the Application:
      
      As mentioned above we have the required date on the Costomer_Data_16bit_Values.
      
      Customer_Data_16bit__Value1 = 0x2051 0x01
DIN4 = 0x30B0 0x04
      
      We set the following:
      
      0x4012 0x07 BatValid = 0x205101
0x4012 0x0A ChargingDetectDlvalue = 0x30B004
      
      
      
2. Configure the ChargingDetect Module:
   
   With this module there is no other configuration needed. If the value of DIN4 == 1 -> driving is disabled. 
   
   
   
3. Save and Reset:
   
   Save the settings (Ctrl+S) and perform a reset.
   Switch to operational mode.
   Test
   Enable auto start if everything works correctly (inverter will always go to operational mode after reset).
   
   0x3000 0x03 AutoStart = 1