ABS/Braking Traction Control

Overview

The ABS/Braking Traction Control feature improves braking stability and traction by dynamically adjusting braking current based on motor behavior.

Operational Logic

1. Hall Transition Timing

a. Measure the time of each hall sensor transition (in seconds).
b. Calculate the threshold:

Threshold (s) = 100 / (Rated Motor RPM × Motor Pole Pairs)

1. Braking Control

a. If transition time > threshold → set braking current limit = 0 (release brake).
b. If transition time ≤ threshold → calculate braking current limit normally (apply brake).

1. Effect

a. Sudden drop in motor RPM triggers brake release.
b. Brake is reapplied automatically when RPM rises above threshold.

Configuration

Enable Features 3 bit 13: Enabled ABS/Traction control.