cboy said:...Kelly Controllers ... provided me with software to configure the controllers into "pure current mode" (aka torque mode) rather than the "speed mode" which is how they come from the factory.
...
Some are under the impression they are "torque mode" ... [What Kelly calls Pure Current Mode]
...
if I had know ahead of time, to have had these controllers programmed at the factory for torque mode. [Pure Current Mode]
An important note about nomenclature:
Kelly uses different terminology for modes (at least for this controller) than is commonly used here on ES. This is a source of great confusion not only here but in communications with Kelly and perhaps their vendors (QS Motors in this case). For instance, in the OP's account above the term 'torque mode' can convey something entirely different depending on who is listening.
From the OP's other thread on Bad Controller Behavior:
teklektik said:...the KLS-S can be ordered with one of three control modes. The Kelly mode names in bold/undeline are slightly different than commonly used here on ES:
- Torque Mode - this is open loop PWM mode - fast response, no feedback loop, rpm+torque not directly related to throttle setting
- Pure Current Mode - closed loop mode where the phase current is directly proportional to throttle voltage. This is the same as a Phaserunner and is often referred to as 'Torque' mode because torque is directly proportion to phase current and so the throttle directly controls torque.
- Speed Mode - a closed loop mode where rpm is proportional to throttle voltage.
So - just to be clear for folks pursuing similar builds - the proper controller mode to order is "Pure Current Mode" not "Torque Mode". This is using Kelly's nomenclature and will get you what you need to replicate this project.
Anyhow - closeups of the interesting build details have been great, but hoping for some shots of the whole trike - quite an inventive and impressive project!