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How to move a Delta GaN ESC to a new firmware build without losing your configuration or bricking the board.
Never disconnect or cut power during a firmware update. An interrupted write can leave the controller unable to boot. Make sure the DC supply is stable and the USB cable will not be knocked out before you start.

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Before you start

1

Back up your configuration

In VESC Tool, save both configurations to XML:
  • XML → Save Motor Configuration
  • XML → Save App Configuration
An upgrade can reset parameters to defaults. Restoring a saved XML takes seconds; re-deriving a tuned configuration does not.
2

Note your current versions

The status bar shows the connected hardware and firmware version. Write down what you are coming from, so you can go back if the new build misbehaves.
3

Check VESC Tool version pairing

If Intrusive Robotics has specified a VESC Tool version for the target firmware, use that version. Mismatched tool and firmware versions can produce misread parameters or a failed update.
4

Power the board properly

DC power on the main input terminals, then USB A → USB C. The Delta is not powered over USB and will not enumerate on USB alone.

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Where to get firmware

Latest release

Prebuilt Delta firmware binaries on GitHub.
VESC Tool also ships bundled firmware. On a firmware mismatch warning, the bundled build matching your hardware is usually the right choice.

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Performing the update

1

Connect

Serial interface, correct port, click Connect. Confirm the status bar shows the board.
2

Open the Firmware page

In VESC Tool’s left toolbar.
3

Select the firmware

Either the bundled build matching your hardware, or a .bin you downloaded. Confirm it is the Delta build — flashing firmware for different hardware is how boards get bricked.
4

Flash and wait

Start the update and leave it alone. Do not unplug USB, cut DC power, or close VESC Tool. The controller reboots on its own when finished.
5

Reconnect and verify

Reconnect and confirm the status bar reports the new firmware version.

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After the update

1

Check your parameters survived

Read the motor and app configurations back and compare against your saved XML. Pay particular attention to current limits, voltage cutoffs, and temperature limits.
2

Restore from XML if needed

XML → Load Motor Configuration, then write it to the controller.
3

Re-verify before loading the motor

Open Realtime Data, run the motor up gently, and confirm the Fault field stays clear — exactly as you would after first setup. See motor tuning.
A major firmware change can alter how detected motor parameters are interpreted. If low-speed behaviour changes after an upgrade, re-run detection rather than assuming the old values still apply.

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Troubleshooting

Experimental firmware

Pre-release builds and what to expect from them.

Motor tuning and parameters

Re-verifying limits after an upgrade.
Last modified on September 1, 2026