IQ Vertiq 8108 User manual

Vertiq 8108 150Kv
Instruction Manual
Warning: you must initialize your motor module through the IQ Control Center before use
1 Power and Communication Setup
 Power
–Use an XT60 connector to connect to your battery or power supply
 Communication
–Use a JST-GH 4 connector for UAVCAN communication
–Use a 3 pin 0.1” header connector for UART and PWM protocols (standard PWM, DShot, etc.)
2 Module Settings
 Download the IQ Control Center (user interface)
–Go to www.iq-control.com/support
–Click the link provided on the Control Center page. This will direct you to our GitHub page.
–Download the Windows/Mac/Linux version according to your operating system
–Proceed through installation
 Connect your module (see section 6 for specific details)
–Make sure the module is disconnected from any application and does not have propellers attached
–Plug USB to UART chip into computer
–Plug/solder communication wires to the above device
–Plug/solder power wires to a power source (must be between 12V and 48V)
–In the top right of the IQ Control Center interface, select the correct com port. Note: you may
need to install appropriate drivers.
–Click the “Connect” button. If successful, the interface will say “Motor Connected Successfully”
in the top message bar. If unsuccessful, it will give you an error message.
 Set module application values
–At the top of the General tab, you can upload specific settings for your application
–If your application is in the list, select it and click “Set”
* There are many options for the speed modules, including pre-made settings for velocity mode,
voltage mode, and PWM mode
* Currently, the only pre-made seting for the position module is the factory default
–If your application is not in the list or you prefer to change settings yourself, you’ll have to change
settings manually
2 MODULE SETTINGS 1/7 V1.0 © 2021 IQinetics Technologies Inc.

Vertiq 8108 150Kv
 Navigate to the General, Tuning and Advanced tabs to change specific module settings
–All users should visit the “General” tab before using their module
–Change module settings to desired value or mode, if necessary
–Click the “Save” button next to a changed setting to update it on the module
* Any unsaved, changed setting will have a * appear next to the parameter name
* To revert to the value currently on the motor, click the ”Check Saved Value” button
–WARNING: exercise extreme caution when changing values in the Advanced tab. A bad setting
may result in a motor being permanently damaged or cause erratic behavior
3 Drone Setup
 Prior to connecting the modules to your drone, open the IQ Control Center to initialize (see section 2)
–Set appropriate module settings using the pre-made settings at the top of the IQ Control Center
General tab (see section 7) or set your own
–Set module direction (this includes both CW vs. CCW and 2D vs. 3D mode)
–Set FC mode (2D vs. 3D). If FC is using dshot and in 3D mode, set this value to 3D. Otherwise
set this to 2D.
–If using UAVCAN, set your UAVCAN Node ID and Node Index
–If necessary, set motor PID gains in the Tuning tab. In most cases, the default values are
satisfactory.
 Configure your flight controller to be compatible with IQ modules
–Open your flight controller’s user interface
–Enable Air Mode
* This prevents the motor from shutting off at minimum throttle
* WARNING: you may see integrator wind up when the vehicle is on the ground depending on
your FC and settings
–Lower motor idle throttle (optional)
* IQ motors do not require an idle throttle value
* If you set this to 0, the motors will not spin when the FC is armed
–Change other FC settings as you would normally
 Fasten the modules to your drone’s frame with the provided mounting screws. WARNING: using
mounting screws that are too long will damage the motor. See the datasheet for details.
 Solder/plug in the power wires to the power distribution board
 Solder/plug in the communication wires to the flight controller
 When using an analog protocol (1-2ms standard, OneShot125, OneShot42, MultiShot) you will need
to calibrate the ESCs. See your FC’s instructions for the procedure.
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Vertiq 8108 150Kv
 Arming Procedure
–If this is your first time setting up the vehicle, do this without props to test motor settings
–Arm your FC normally
–The motors will only arm once throttle is in the appropriate place
* 2D mode - motors arm at minimum throttle (throttle stick all the way down)
* 3D mode - motors arm at mid throttle (throttle stick in the middle)
–The motors will play the arming tune and spin slowly
–Once you’ve tested motor settings, disarm your FC
 Add the propellers (see section 4)
 Repeat the arming process and fly!
 WARNING: if your motors are hot after a short hover test, decrease PD gains and lower the filter
frequencies on your FC.
4 Propeller Setup
 Insert the centering feature
 Place the propeller over and around the centering feature
 Place the top mount over the propeller and screw in the top mount and propeller to the rotor with the
screws supplied with your propeller
 Note: centering tool, mount, and screws not provided with IQ module as they are usually supplied
with the propeller
5 Position Application Setup
 Before connecting the module, download the firmware that is appropriate for your application (see
section 8)
–The servo position firmware accepts standard PWM, OneShot, MultiShot, and DShot inputs as
well as IQ’s UART protocol and can operate in position, velocity, voltage, or PWM mode
–The step/direction firmware mimics a stepper motor with one line as step (TX/Telem), and the
other line as the direction (RX/PWM)
 Open the IQ Control Center to initialize (see section 2)
–If your application involves a rotation to linear conversion, change the conversion factor to meters
per radian in the General tab
–In the Tuning tab, Set initial position, PID gains, etc.
–In the Advanced tab, Set safety features, such as timeout and max angular speed
 Connect your module’s power wires to a power source (between 12V and 48V)
5 POSITION APPLICATION SETUP 3/7 V1.0 © 2021 IQinetics Technologies Inc.

Vertiq 8108 150Kv
 Connect your communication wires to your arduino, computer, etc.
 Mount your module to the application
 If communicating over UART, use the IQ libraries (available at www.iq-control.com/support) to
send commands to your module*
*For more detailed instructions on communicating with the modules, refer to the ReadTheDocs page at https: // iqmotion.
readthedocs. io/
6 Connect Computer via USB to UART
This is the recommended method for communication.
 Connect your FTDI, CP2102, CP2104 or similar device to USB
 Using jumper wires connect (see images below):
–The GND of your USB to UART device to the GND (black) wire on the motor
–The TX of your USB to UART device to the RX (white) wire on the motor
–The RX of your USB to UART device to the TX (red) wire on the motor
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Vertiq 8108 150Kv
Motor with power and UART connections
FTDI chip plugged into computer
6 CONNECT COMPUTER VIA USB TO UART 5/7 V1.0 © 2021 IQinetics Technologies Inc.

Vertiq 8108 150Kv
7 Pre-Made Application Settings
 These pre-made settings were designed to give users maximum performance in their specific application
 Settings Description: Speed Module
–speed factory default - factory default, unconfigured
–T-Motor 26x8.5R - settings for velocity (closed-loop) mode using a T-Motor G26x8.5R (right-
handed) propeller
–T-Motor 28x9.2R - settings for velocity mode using a T-Motor NS28x9.2R (right-handed) propeller
–T-Motor 30x10R - settings for velocity mode using a T-Motor NS30x10R (right-handed) propeller
–PWM Mode - use any propeller as you would with a standard motor/ESC, PWM (open-loop)
mode
–12s empty - voltage mode, motor will run as if it is running an empty 12S battery
–12s full - voltage mode, motor will run as if it is running a full 12S battery
–6s empty - voltage mode, motor will run as if it is running an empty 6S battery
–6s full - voltage mode, motor will run as if it is running a full 6S battery
Tip: The defaults for specific props allow you to run the motor in velocity (closed-loop) mode for
maximum performance. If you’re unable to do this, we suggest using PWM mode as you would
with a standard motor/ESC or one of the voltage modes
 Settings Description: Position Module
–position factory default - factory default, unconfigured
 Make your own pre-settings (for advanced users)
–Locate and open the IQ Control Center’s “resources” folder
–Open the “defaults” folder
–Here you will see all of the .json files that correspond to the GUI’s pre-made settings list
–Create your own file by copying one of the factory default .json files and renaming it
–In that new file, you can change the parameter values. Save this file once you’re done editing.
–Quit out of and reopen the IQ Control Center
–Your new setting should now appear in the list of pre-settings in the General tab
8 Flashing New Firmware
Download Firmware
 Go to: www.iq-control.com/products
 Navigate to your product
 Select and download your desired firmware (.bin file)
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Vertiq 8108 150Kv
Flash Firmware
 Disconnect motor from your application and remove props
 Open the IQ Control Center and connect your module (see section 2 for download instructions)
 Navigate to the “Firmware” tab
 Click the “Select Firmware Binary (”.bin”)” button
 Navigate to and select the ”.bin” file that you downloaded
 Keep the motor plugged in and select the ”Flash” button
 WARNING: The flashing process takes a number of seconds. Do not unplug power or communication
while the motor is flashing as this could lead to a bricked or difficult to recover motor.
9 Safety Instructions
 IQ motor modules and the machines they actuate can be dangerous and cause bodily harm. Please
use caution when working with motors.
 Plugging the power wires from the battery into the module incorrectly can cause a spark or a fire. This
will result in damage to the motor, controller, and other vehicle components, and may cause bodily
harm.
 Please keep hands and fingers clear of the motor and machine during operation.
 While spinning the module with a propeller, please keep a safe distance and use appropriate eye and
ear protection. Contact with a spinning propeller can cause severe bodily harm. Always disarm all
motors before approaching your vehicle.
 Please exercise caution when changing motor settings and PID gains. In particular, disabling or
changing built-in limits (e.g. temperature limit, max current limit, velocity redline, etc.) can be
dangerous and cause irreparable damage to the module.
 The modules may get hot during operation. Do not touch a module immediately after operation as it
may cause a burn.
 While piloting a drone, please follow all federal and local regulations regarding the operation of Small
Unmanned Aircraft Systems.
10 Revision History
Table 1: Revision History
Version Date Changes
1.0 2021-10-25 Initial Version
10 REVISION HISTORY 7/7 V1.0 © 2021 IQinetics Technologies Inc.