Power & thermal budget
Monitor battery voltage and motor temperature during the robot’s actual operating sequence.
Shared battery load
All mechanisms share the robot battery. Supply current limits help manage the demand from each Cyclone, but battery condition, wiring resistance, and other loads also affect voltage. Log battery or motor supply voltage during the combinations that occur in a match.
If voltage falls during acceleration, compare the current from the drivetrain and mechanisms operating at the same time. Inspect battery charge, terminals, main connections, and the power wires to each motor. Increasing a motor current limit can make that voltage drop worse.
Temperature protection
The reported device temperature is measured on the controller board. It does not directly measure winding temperature, and it can lag heating elsewhere in the motor.
| Condition | Default behavior |
|---|---|
| Below 70°C | Temperature protection does not lower your stator current setting. |
| 70–75°C | With thermal fold enabled, the allowed stator current decreases toward 12 A. |
| At or above 75°C | The allowed stator current stays at 12 A, or at your setting if it is lower. |
| Sustained 80°C | The separate thermal protection stops output. |
Thermal fold gradually lowers the allowed current as the controller heats up. The thermal stop shuts off output at the higher trip temperature. These are separate protections. Turning off fold does not remove the 80°C stop. If the motor derates or stops, disable the mechanism, read the fault state, let it cool, and address the load or cooling before repeating the run.
Practice checks
- Run a representative sequence long enough to include repeated cycles and holding periods.
- Record temperature along with stator current, supply current, and applied duty.
- Check whether the mechanism catches, rubs, or prevents the motor from turning. A stall means the motor is being commanded but cannot rotate. An arm that holds a load can heat while stationary.
- Review gearing, limit settings, and airflow if temperature keeps rising through the sequence.
- Repeat the test after mechanical changes. A single short motion test does not establish performance for an entire match.