VESC Harmony 32

It mainly depends on what the battery cells can handle rather than the BMS.  The BMS itself can take the same regen current as output current as it goes through the main power path.

Through the charging port it can only go up to the specified charge current.

Charge current, battery current, and battery regeneration current can all be individually configured using VESC Tool to suit your specific application, hardware or performance requirements.

Most likely the BMS has entered sleep-mode. Sleep mode is entered when

• Power is off
• Nothing is connected over USB, Bluetooth or Wifi
• Not balancing
• Not charging
• Block sleep is disabled in the settings

Notice that block sleep is enabled by default, but it will disable itself after a few hours to avoid draining the battery.

In sleep-mode it is not possible to connect to the BMS over USB, Bluetooth or Wifi. To leave sleep mode you can

• Enable the power output by bridging EN and ENs on the comm-port
• Connect a charger

For the CAN-bus to work all devices on it need to have the same baudrate and different CAN IDs. If both of those conditions are not fulfilled the CAN-bus will be unreliable and often not work at all.

By default all our devices have CAN baudrate 500 kbps. The default ID is are

• Nanolog, RMCore, WCore, Link: 2
• BMS: 3
• Display: 4
• ESC: random, but not 2, 3 or 4

Due to the random ESC ID you need to check for collisions and change ID accordingly before connecting them together on the CAN-bus

Note
Changing CAN baudrate has to be done on each device individually without having other devices connected over CAN as having different baudrates on the same bus will make communication on that bus stop working completely. VESC Tool has a function that allows changing CAN baudrate on all devices at once; it can be found at the top of the CAN Tools page. Once the update is done using this method it will be stored in the non-volatile settings on each device.

Note
All our devices remember the CAN ID and CAN baudrate across firmware updates. This allows reaching all devices on the CAN-bus on the same baudrate and ID as before even after a firmware update.

Note on motor controllers with an ESP32
Our motor controllers that have an integrated ESP32 (Maxim, Maxim+, Pronto, Duet) have the USB and wireless interfaces connected to the ESP32. When changing baudrate on the motor controller it will no longer be reachable on the CAN-bus from the ESP32. To resolve this, the VESC Express page can be used to change to the same baudrate on the ESP32 - this should make the motor controller appear on the CAN-bus again. The same is true for overlapping IDs - if the motor controller ID is changed to the same as on the ESP32, the ID of the ESP32 can be changed in the VESC Express page to a different one to make the motor controller appear on the CAN-bus again.

When changing CAN-mode to UAVCAN (DroneCAN) the VESC CAN protocol will be disabled. This means that VESC Tool can't be used to configure and monitor ESCs or other VESC devices on the CAN-bus at the same time as UAVCAN is enabled. This is especially a problem on the Maxim, Pronto and Duet controllers as they access the STM32 using the ESP32 using VESC CAN. The later firmwares will therefore switch back to VESC CAN on reboot.

Earlier firmwares will not switch back on reboot, meaning that it is possible to lock yourself out from them (Maxim, Pronto and Duet) when changing to UAVCAN. If you have locked yourself out you can either try connecting using the UART-port with an USB-to-UART adapter and 115200 baudrate or you can use USB to reflash the STM32.

So, how do I use UAVCAN on Maxim, Pronto or Duet? Unfortunately we don't have a good solution for that now. As it is now UAVCAN is not widely used among our customers (and VESC-users in general), but if it becomes more popular we will look into improving UAVCAN-support in the firmware. Pull-requests on github are always welcome of course!

Yes, we offer a discount for all customers when ordering 3+ and 10+ units which can be seen on the website.
For order quantities over 25 units please follow the instructions on the request approval for a wholesale account page.
Once your account has been approved for wholesale, go to wholesale products which will show show the updated prices and lead times.

Yes, we do. Please contact us at info@vesclabs.com with your project requirements and specifications, and our team will assist you with tailored OEM or custom solutions.

Yes, we do. Please send the details of your project and institution to info@vesclabs.com, and our team will review your request.

Our partner Oliver, also known as Electricfox, offers paid consulting services for BMS and motor controller integration, setup, tuning and load testing. His website is

https://electricfox.de/

At the bottom of the page you can find different options to contact Oliver