> ## Documentation Index
> Fetch the complete documentation index at: https://docs.intrusiverobotics.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Delta GaN ESC quickstart

> Get a Delta GaN ESC installed, powered, connected to VESC Tool, and tuned for sensorless FOC.

The Delta is a high-voltage GaN motor controller running open source, VESC-compatible firmware. This guide takes you from an unopened board to a tuned, running motor.

<Info>
  This guide covers **REV A** hardware. The Delta runs **sensorless FOC only** — there is no encoder input on this board.
</Info>

<CardGroup cols={4}>
  <Card title="93 V" icon="bolt">
    Max input
  </Card>

  <Card title="70 A" icon="gauge-high">
    Max continuous
  </Card>

  <Card title="3–12S" icon="battery-full">
    Battery
  </Card>

  <Card title="30–60 kHz" icon="wave-square">
    Zero vector freq
  </Card>
</CardGroup>

## 1. Before you start

### What you need

| Item                | Notes                                                                                                                                  |
| ------------------- | -------------------------------------------------------------------------------------------------------------------------------------- |
| USB A → USB C cable | Recommended. Data-capable, not charge-only.                                                                                            |
| DC power source     | Battery or bench supply within the Delta's rated input range.                                                                          |
| Motor               | Three phase wires. Sensorless operation only — no encoder input.                                                                       |
| VESC Tool           | Desktop only (Windows / macOS / Linux). The mobile app is **not** compatible. See [Where to get VESC Tool](#4-where-to-get-vesc-tool). |

### Specifications

| Parameter                              | Value                                     |
| -------------------------------------- | ----------------------------------------- |
| Max input voltage (continuous)         | 93 V                                      |
| Max input voltage (transient, ≤100 ms) | 100 V                                     |
| Recommended battery pack               | 3S – 12S                                  |
| Max continuous current                 | 70 A — requires continuous forced airflow |
| Recommended zero vector frequency      | 30 – 60 kHz                               |

<Warning>
  **The 70 A rating requires airflow.**

  70 A assumes continuous forced airflow over the heatsinks. Without it, usable continuous current is substantially lower and the controller will throttle or fault.

  Install the heatsinks before running meaningful current, and set the controller temperature cutoffs conservatively. Bench testing without airflow is fine for detection and low-current checks only.
</Warning>

<Note>
  **Battery pack selection**

  3S – 12S. Size against **fully charged** voltage, not nominal — 12S is 50.4 V full.

  Higher voltages are possible but leave less margin for inductive spikes, which come mainly from battery lead inductance, regenerative braking, and hot-plugging. Keep power leads short and thick, use an anti-spark connector, and limit regen current.

  Below 3S the controller may not power up or hold a stable voltage under load.
</Note>

## 2. Heatsink installation

Install the heatsinks **before applying power** — the 70 A rating depends on them.

The supplied heatsinks have a small channel cut into the underside to clear the capacitors. Orient each sink so this channel sits over the capacitors; it will then sit flat against the board. If the sink rocks, sits proud, or bears on a capacitor, it is oriented wrong.

<Warning>
  The heatsinks mount with thermal tape, so placement is effectively **one-shot** — the adhesive does not survive being peeled off and repositioned. Dry-fit and confirm orientation before removing the liner.
</Warning>

<Steps>
  <Step title="Power down">
    Board unpowered and disconnected.
  </Step>

  <Step title="Clean the mating surfaces">
    Remove any residue, flux, or debris. The tape needs a clean surface to bond.
  </Step>

  <Step title="Dry-fit the heatsink">
    Capacitor channel over the capacitors; fin channels running **parallel** to your airflow path, not across it. Confirm it sits flat.
  </Step>

  <Step title="Peel and place">
    Peel the liner and place the heatsink in the position you just confirmed. Do not slide it into place.
  </Step>

  <Step title="Press down firmly">
    Press evenly across the whole sink for several seconds to wet out the adhesive. Even pressure matters — voids in the bond become hot spots.
  </Step>

  <Step title="Check clearances">
    Confirm the heatsink does not contact any adjacent conductor or exposed pad.
  </Step>
</Steps>

Once installed, check that the intake is unobstructed in the final enclosure and watch controller temperature in Realtime Data during first load testing.

## 3. Power and USB — read this first

<Warning>
  **The Delta is not powered over USB.**

  USB provides data only. The controller will not boot, will not enumerate, and will not appear in VESC Tool until DC power is applied to the main input terminals.

  If VESC Tool shows no serial port, check that the Delta actually has DC power before troubleshooting the cable.
</Warning>

A **USB A → USB C** cable is strongly recommended.

## 4. Where to get VESC Tool

VESC Tool is distributed through the VESC Project store, which trips people up the first time.

<Steps>
  <Step title="Create an account">
    Sign up at [vesc-project.com](https://vesc-project.com/vesc_tool) and log in.
  </Step>

  <Step title="Scroll to the bottom of the VESC Tool page">
    The download options sit below the description.
  </Step>

  <Step title="Choose an edition">
    **VESC Tool Free is €0.00 and functionally identical to the paid tiers.** The Bronze / Silver / Gold / Platinum versions are donations to the project that grant a profile badge. All editions are the same software.
  </Step>

  <Step title="Complete the (free) checkout">
    Add it to the cart and check out.
  </Step>

  <Step title="Open Purchased Files">
    In the top-right menu. Your download links are there.
  </Step>

  <Step title="Download and run">
    Grab the archive for your OS, extract it, and run the executable. No installer on most platforms.
  </Step>
</Steps>

<Warning>
  **Mobile is not supported.** The VESC Tool mobile app (Android / iOS) is not compatible with the Delta. Use the desktop application for all setup, configuration, and firmware operations.
</Warning>

<Note>
  **Firmware pairing:** if Intrusive Robotics has specified a VESC Tool version for your Delta's firmware, use that version. Mismatched tool and firmware versions can produce misread parameters or a failed update.
</Note>

Source is at [github.com/vedderb/vesc\_tool](https://github.com/vedderb/vesc_tool) (GPL v3). Only binaries from vesc-project.com are official releases.

## 5. Connecting

<Steps>
  <Step title="Power the Delta">
    Apply DC input first, then plug in USB A → USB C.
  </Step>

  <Step title="Launch VESC Tool">
    Desktop application only.
  </Step>

  <Step title="Set the interface to Serial">
    In the Connection panel.
  </Step>

  <Step title="Pick the port">
    Choose it from the dropdown. Hit the refresh icon if it's empty.
  </Step>

  <Step title="Click Connect">
    The status bar shows the connected hardware and firmware version once the link is up.
  </Step>
</Steps>

<AccordionGroup>
  <Accordion title="No port showing?" icon="circle-question">
    * Is DC power actually applied?
    * Is it a data cable, not charge-only?
    * Are you on a C-to-C cable? Switch to A-to-C.
    * **Windows:** check Device Manager for the device under Ports, or as an unknown device.
  </Accordion>

  <Accordion title="Firmware mismatch warning on connect?" icon="triangle-exclamation">
    Go to the Firmware page, pick the bundled firmware matching your hardware, and flash it.

    **Do not disconnect or cut power mid-update.**
  </Accordion>
</AccordionGroup>

## 6. FOC setup wizard

<Warning>
  **Safety check before you begin**

  * The motor must be **completely unloaded and free to spin**. Detection spins it up under its own control.
  * Remove propellers, gears, belts, and wheels. No exceptions.
  * Clamp or bolt the motor down. It will produce real torque during detection.
  * Keep hands, cables, and tools clear of the motor and phase leads.
  * The motor will beep and jerk during resistance and inductance measurement. This is normal.
</Warning>

Open the wizard from the **Welcome & Wizards** page — click **Setup Motors FOC**. It is also reachable from the wizard icon in the left toolbar.

<Steps>
  <Step title="Warning and confirmation">
    Read it, confirm the motor is unloaded, continue.
  </Step>

  <Step title="Battery / power source setup">
    Enter your pack configuration:

    * Battery type (Li-ion, LiPo, LiFePO₄, or custom)
    * Cells in series (S count) — 3S to 12S recommended
    * Battery capacity in Ah

    This sets the voltage cutoff start and end points. On a bench supply, choose **custom** and set cutoffs manually below your supply voltage.
  </Step>

  <Step title="Motor selection">
    Pick the closest size class — mini outrunner, small, medium, large outrunner, direct drive, and so on. This seeds the current limits and the detection parameters. You can refine current limits after the wizard finishes.
  </Step>

  <Step title="Motor detection">
    Click the detection button and let it run. It will:

    * Measure resistance and inductance (R and L) — audible beeping, motor does not rotate
    * Measure flux linkage (λ) — the motor spins up and coasts down

    Review the reported R, L, and λ values. **If any come back as zero, negative, or wildly implausible, do not apply them** — see [Troubleshooting](#7-troubleshooting).

    Click **Apply** to write the detected parameters.
  </Step>

  <Step title="Sensor setup — select Sensorless">
    The Delta **does not support motor encoders**. Skip any encoder option the wizard presents — AS5047, ABI, SinCos, or similar. There is no encoder input on this hardware.

    Select **Sensorless**. Nothing further to configure.
  </Step>

  <Step title="Direction">
    The wizard offers a direction test. Spin the motor forward and confirm it turns the way you expect. Flip the direction toggle if not — this is cleaner than swapping phase wires.
  </Step>

  <Step title="Finish and write">
    The wizard writes the motor configuration to the Delta. Confirm the write succeeded in the status bar.
  </Step>
</Steps>

<Note>
  **Understand the sensorless trade-off.** Sensorless FOC has no position feedback at standstill and estimates rotor position from back-EMF. Below roughly 10% of max RPM the estimate degrades, so expect weak or rough startup torque and possible stutter on hard acceleration from a stop. For high-RPM applications — which is what this controller is built for — this is a non-issue once the motor is moving.

  If your application needs strong torque from zero RPM, this controller is not the right fit.
</Note>

### Then run the input setup wizard

Back on the **Welcome & Wizards** page, click **Setup Input** to configure your control source: PPM (RC receiver), ADC (throttle), UART, CAN, or ADC+UART. Follow the calibration steps — for PPM, you'll move the stick through its full range so the tool can capture min, max, and center.

### After the wizards

Head to **Motor Settings → General** and sanity-check:

| Setting                                | What to check                                                                                                                                                                                           |
| -------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Motor current max / min                | 70 A ceiling on the Delta, and only with continuous airflow. Use the lower of the Delta's rating and your motor's rating. Without forced airflow, set this well below 70 A.                             |
| Absolute maximum current               | The hard fault threshold. Keep it above your working max but inside the hardware limit.                                                                                                                 |
| Battery current max / min              | Set regen (min) to what your pack can actually absorb. Excess regen drives the bus toward the 93 V ceiling.                                                                                             |
| Voltage cutoff start / end             | Confirm the S count matches your actual pack. A wrong S count sets the low-voltage cutoff incorrectly and will over-discharge the pack. On higher-voltage packs, also check the bus under hard braking. |
| Temperature limits                     | Controller cutoff start/end. These are your thermal safety net for the 70 A rating — set them conservatively rather than at the maximum.                                                                |
| Max ERPM                               | Leave headroom below what your motor can mechanically handle.                                                                                                                                           |
| Zero vector frequency (FOC → Advanced) | Set to 30–60 kHz for the Delta.                                                                                                                                                                         |

Write the configuration, then open **Realtime Data** and run the motor up gently while watching current, duty cycle, and temperature. Check the **Fault** field — it should stay clear.

<Tip>
  Save a backup of your working configuration via **XML → Save Motor Configuration**.
</Tip>

## 7. Troubleshooting

| Symptom                              | Check                                                                                                  |
| ------------------------------------ | ------------------------------------------------------------------------------------------------------ |
| No serial port in VESC Tool          | DC power applied? Data cable? Using A-to-C, not C-to-C?                                                |
| Connects, then drops                 | Cable quality; USB hub power; ground loops if multiple devices share the DC bus.                       |
| Detection fails, no values           | Motor unloaded and free to spin? All three phases connected? Supply current limit too low?             |
| Detection reports zero or negative L | Very low motor inductance. Retry detection at lower voltage, or enter known motor parameters manually. |
| Over-voltage fault during detection  | Bench supply can't sink regen current — use a battery or a bleed resistor.                             |
| Motor stutters at low RPM            | Partly expected for sensorless FOC. Try lowering the FOC resistance parameter — see below.             |
| Motor spins the wrong way            | Flip direction in Motor Settings; don't swap phase wires.                                              |

### Low-RPM stutter: lowering FOC resistance

Detection usually reports R **high**, because it includes cable, connector, and switch resistance on top of the winding itself. The sensorless observer leans heavily on R at low RPM, so an inflated value degrades position tracking exactly where it is already weakest.

To try it: in **Motor Settings → FOC → General**, set **Motor Resistance** to half the detected value and re-test low-speed behavior. Half is the usual starting point; adjust from there if needed.

<Warning>
  Before committing to a reduced value:

  * **Re-test under load**, not just free-spinning. A value that smooths low-RPM stutter unloaded can misbehave when torque is applied.
  * **Re-test at operating temperature.** Winding resistance rises as the motor heats, so a value tuned cold moves further from actual R once hot.
  * **Watch for new instability** at higher RPM or during hard acceleration. If it appears, you have gone too far — go back up.
  * **Note the detected value** before changing it so you can return to it.
</Warning>

If reducing R does not resolve it, the startup parameters on the **FOC → Sensorless** tab — openloop ERPM, openloop hysteresis, and openloop time — are the next place to look.

## 8. Support

<CardGroup cols={2}>
  <Card title="Contact Intrusive Robotics" icon="envelope" href="mailto:info@intrusiverobotics.com">
    [info@intrusiverobotics.com](mailto:info@intrusiverobotics.com)
  </Card>

  <Card title="Motor tuning and parameters" icon="sliders" href="/guides/motor-tuning">
    Current limits, cutoffs, and sensorless tuning.
  </Card>

  <Card title="VESC Project documentation" icon="book" href="https://vesc-project.com/documentation">
    Upstream reference for VESC Tool and firmware.
  </Card>

  <Card title="VESC Project forums" icon="comments" href="https://vesc-project.com/forum">
    Community troubleshooting and discussion.
  </Card>
</CardGroup>