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Version: 5.0.x {stable}

Multi controller setup

Purpose of this guide is to setup LYNX application with 2 or more controllers. One controller is a Master. To the Master you will wire all the inputs. Other controllers are connected just over CAN.

Example usage
  • Bike with front and rear hub motor
  • Electric cart with 2 motors, one for each rear wheel
  • Quad bike with 4 individual motors
It is not intended for

Implementation notes​

  • All devices on the CANbus needs to have unique addresses
  • Master is always controller with address 0
  • If Master is in error, whole vehicle is stopped
  • If Slave is in error, only one motor is stopped (in freewheeling mode)
  • What is the Master sending to the Slave:
    • Driver mode, driver cmd and imult
    • LYNX selected map
  • Only Master is sending LYNX Periodic messages
  • Driver limiter are working independently

Prerequisites​

  • Completelly setup Master controller (controller with address 0)
    • Motor is identified
    • Inputs are wired
    • The vehicle can be driven with only the Master without problem
  • Prepare Slave controllers
    • Setup same CAN speed
    • Make sure, that you have two 120ohm CAN terminators on the bus
    • Setup different address for each Slave (starting from address 1)
    • Identify motors on Slave controllers
    • Setup driver in Slave controllers
      • limiters, current (can be different from master)

LYNX preparation​

  • In Master set parameter:
    • /misc/syncmode -> 1
  • In all Slaves set parameters
    • /misc/syncmode -> 2
    • Other parameters leave in default
  • Copy these parameters from Master to Slave (Also remember, when you change these parameters, change them in all controllers)
    • maps/restmapcnt
    • maps/mapchlpf
    • maps/mapcnt

Maps tuning​

List of parameters, that can be individually tuned in Slave and Master:

  • maps/kphlimit
  • maps/pwrlimit
  • In every map:
    • maps/mapX/kph
    • maps/mapX/pwr
  • Other parameters in maps are not used in Slave
Examples

I want same power and speed from Master and Slave
Just copy all above listed parameters from Master to Slave

I want front motor with less power
Set different values in pwr parameter in maps.

I want different torque in front motor
Change /driver/iref parameter in front controller.