SIYI E6 User Manual

Propulsion system

Hide thumbs

Table Of Contents

Table of Contents

Quick Links

Download this manual

PROPULSION SYSTEM

USER MANUAL

SIYI Technology (Shenzhen) Co., Ltd.

SIYI.biz/en

Table of Contents

Need help?

Do you have a question about the E6 and is the answer not in the manual?

Questions and answers

Summary of Contents for SIYI E6

Page 1 PROPULSION SYSTEM USER MANUAL SIYI Technology (Shenzhen) Co., Ltd. SIYI.biz/en...
Page 2 With intelligent data monitoring and fault storage capabilities, as well as an IPX6 protection rating, the E6 is the ideal choice for agricultural and industrial propulsion systems. To ensure a positive product experience, please carefully review the user manual before installation and flight.
Page 3 Contact Us: SIYI Official Website ( https://SIYI.biz/en SIYI User Group - Facebook Facebook Linkedln YouTube 3 / 86 2025 SIYI Technology Copyright...
Page 4 Manual Version Update Record Version Date Updates 2025.2 Initial version. 4 / 86 2025 SIYI Technology Copyright...
Page 5: Table Of Contents
2.2.2 CAN ID ............................31 2.3 CAN Throttle ............................31 2.3.1 Setting CAN Throttle via SIYI UniGCS ..................... 32 2.3.2 Setting CAN Throttle via Mission Planner Ground Control Station (ArduPilot) ......33 2.3.3 Setting CAN Throttle via QGroundControl Ground Station (PX4) ..........38 CHAPTER 3 START ASSEMBLY ..........................
Page 6 5.3 Fault Storage Function ...........................75 CHAPTER 6 FIRMWARE UPGRADE ........................77 6.1 Upgrading via UniGCS Software ......................77 6.2 Using DroneCAN Protocol to Upgrade via Mission Planner Software (ArduPilot) ....83 CHAPTER 7 AFTER-SALE SERVICE ........................86 6 / 86 2025 SIYI Technology Copyright...
Page 7: Read Tips
CAUTION Cautions on what manipulation may lead to property loss. Prohibited Mandatory Mark Safety D6 enterprise propulsion system is designed for professional application in specific scenes, users who approach to the 7 / 86 2025 SIYI Technology Copyright...
Page 8: Storage / Carrying / Recycling
Disassembling or modification to the system is prohibited without permission from its manufacturer, SIYI Technology. Storage / Carrying / Recycling When your SIYI product is left unused, or you are bringing it outdoors, or the product life has expired, please do read the below precautions.
Page 9 CAUTION SIYI products should not be placed in places under direct sunshine or too dusty or too wet. Carrying or transporting SIYI products should avoid vibration or shatter by which components may break. 9 / 86 2025 SIYI Technology Copyright...
Page 10: Chapter 1 Introduction
ESC (Electronic Speed Controller) The SIYI self-developed FOC ESC offers precise control and high responsiveness. Its fault protection function has undergone extensive testing to ensure safety, reliability, and stability. It supports data storage, real-time system monitoring, and issue location and analysis.
Page 11 PWM + CAN Dual Throttle Redundancy The dual throttle design allows flexible control response and logic selection, adjusting real-time responses quickly to enhance data transmission stability system anti-interference 11 / 86 2025 SIYI Technology Copyright...
Page 12 Fault Storage & Real-Time Analysis The ESC has built-in data storage. When combined with the SIYI CAN LINK power upgrade and tuning module, it enables firmware upgrades, real-time data monitoring, historical data queries, fault storage and analysis, and ESC parameter adjustments.
Page 13 Balancing Open-Source and Commercial Ecosystem Following years of excellence in the intelligent robotics field, SIYI Technology supports both open-source and trusted commercial systems, infusing strong vitality into the creation of a sustainable industry ecosystem. SIYI Ecosystem: View data waveforms, upgrade firmware, change configurations, and trace fault data on the upper- level system.
Page 14: Product Overview
1.2 Product Overview 14 / 86 2025 SIYI Technology Copyright...
Page 15: Technical Specification
Compatible Arm Tube 30 mm Diameter Product Weight 715 g Model 70A FOC PWM Voltage Input 3.3 / 5V PWM Pulse Width 1050 ~ 1950 μs PWM Working 50 ~ 500 Hz Frequency Max Voltage 15 / 86 2025 SIYI Technology Copyright...
Page 16 Supported Digital Throttle CAN Throttle Motor 155 KV Motor Size Φ62 * 18 mm Poles & Magnets 24N28P Product Weight 403.5 g Propeller Diameter x Pitch 24 * 9.0Inch Product Weight 109.6 g 16 / 86 2025 SIYI Technology Copyright...
Page 17: Performance Specifications
1.4 Performance Specifications 17 / 86 2025 SIYI Technology Copyright...
Page 18: Packing List
1.5 Packing List Powertrain (Excluding Propellers) 1 x E6 UAV Powertrain (CW or CCW) Propellers 1 x 2490 Folding Propeller (CW or CCW) 1 x Propeller Strap 4 x M3*8 Hexagon Socket Screws 18 / 86 2025 SIYI Technology Copyright...
Page 19: Protection Function, Indicator Definition, & Buzzer Definition
1.6 Protection Function, Indicator Definition, & Buzzer Definition The SIYI propulsion system uses both indicator lights and a buzzer to define different operational statuses. Abnormal Status Buzzer Indicator Light Recommended Action Information Yellow light flashing Overvoltage, Overvoltage: One No sound...
Page 20 White light solid Firmware properly connected, and Failed Upgrade then attempt to reflash the firmware Firmware upgrade in Firmware progress; will return to No sound White light solid Upgrading normal light after successful upgrade 20 / 86 2025 SIYI Technology Copyright...
Page 21 ’ s navigation lights can be turned off. Even if the navigation lights of the propulsion system are turned off, the yellow light will still flash in case of a fault or anomaly. 21 / 86 2025 SIYI Technology Copyright...
Page 22: Chapter 2 Prepare For Assembly
1. Identify the positive (red) and negative (black) power wires of the propulsion system. 2. Use the soldering iron to solder the positive wire to the positive pole of the connector and the negative wire to the negative pole of the connector. 22 / 86 2025 SIYI Technology Copyright...
Page 23 Please ensure that the power wires are fully and securely soldered to the connector, with the solder joints being well- filled to avoid cold or weak soldering. This is crucial for maximizing flight safety. 23 / 86 2025 SIYI Technology Copyright...
Page 24: Configuration
2.2 Configuration SIYI UniGCS software allows users to customize the Propulsion System's light color, throttle ID, and CAN throttle settings. Tools Required  SIYI UniGCS (Windows Version)  SIYI CAN Link Module  Windows Device 24 / 86 2025 SIYI Technology Copyright...
Page 25 Steps 1.Please refer to the image above to connect the Propulsion System, ground control station, and Windows device. 2.Run the SIYI UniGCS software and enter the ESC settings menu. 25 / 86 2025 SIYI Technology Copyright...
Page 26 3.Select the corresponding COM port and device type (ESC), then click "Scan." 26 / 86 2025 SIYI Technology Copyright...
Page 27 4.If the Propulsion System is successfully recognized, the connection is successful. 27 / 86 2025 SIYI Technology Copyright...
Page 28 Note: Before performing parameter adjustments, please ensure that the Propulsion System is functioning properly, and pay special attention to the pin definition of the CAN interface to avoid incorrect insertion. 28 / 86 2025 SIYI Technology Copyright...
Page 29: Indicator Colors
The indicator colors of the propulsion system are an important reference during LOS (Line of Sight) flight. Steps 1. Select the target ESC ID. 2. Set the indicator color for the selected ESC and save the settings. 29 / 86 2025 SIYI Technology Copyright...
Page 30 3. If the propulsion system's indicator color changes accordingly, settings are successful. Mark Before configuring the ESC, please disconnect other serial port devices to avoid issues in recognizing the propulsion system. 30 / 86 2025 SIYI Technology Copyright...
Page 31: Can Id
CAN ID has been automatically assigned during production. So, it is not mandatory to configure the CAN ID every time. 2.3 CAN Throttle CAN throttle is digital throttle which helps the propulsion system function more precise and smoother. 31 / 86 2025 SIYI Technology Copyright...
Page 32: Setting Can Throttle Via Siyi Unigcs
Please refer to Section 2.2 of this user manual to connect the device and run the SIYI UniGCS software to enter the ESC settings menu. Select the target ESC, set the throttle ID for the ESC, and save the settings.
Page 33: Setting Can Throttle Via Mission Planner Ground Control Station (Ardupilot)
2.3.2 Setting CAN Throttle via Mission Planner Ground Control Station (ArduPilot) The ArduPilot flight controller supports setting the E6 propulsion system via the DroneCAN protocol. Steps 1.Launch Mission Planner and find the corresponding port in the PC device manager. 33 / 86...
Page 34 2.Select the corresponding COM port and set the baud rate to 115200. 3.Search for CAN_P1_DRIVER. 4.Set the value to CAN_P1_DRIVER = 1. 34 / 86 2025 SIYI Technology Copyright...
Page 35 8.Check the CAN_D1_UC_ESC_BM based on the number of ESCs and their corresponding ESC numbers. The following image shows the case where 6 ESCs are used, and the ESC numbers are configured as 1, 2, 3, 4, 5, and 6. 35 / 86 2025 SIYI Technology Copyright...
Page 36 ESC Test 1.In the ESC test interface, you can set the throttle and the duration of the throttle action. After setting, select the motor to test based on the motor number. 36 / 86 2025 SIYI Technology Copyright...
Page 37 2.For example, to test motor number 1, click Test motor A. 3. In the status bar, you can view the following data for ESC 1 under this throttle action:  Voltage (esc1_volt)  Current (esc1_curr)  RPM (esc1_rpm) 37 / 86 2025 SIYI Technology Copyright...
Page 38: Setting Can Throttle Via Qgroundcontrol Ground Station (Px4)
 Temperature (esc1_temp) 2.3.3 Setting CAN Throttle via QGroundControl Ground Station (PX4) PX4 flight control supports communication with the E6 propulsion system via the UAV CAN protocol. To configure the parameters correctly: Set UAVCAN_BITRATE to 1000000. Set UAVCAN_ENABLE to Sensors and Actuators (ESCs) Automatic...
Page 39 CAN node ID to the CAN device. After configuring the above parameters, restart PX4. In the Mavlink console, enter uavcan status to check the CAN port status and the devices connected to the CAN port. 39 / 86 2025 SIYI Technology Copyright...
Page 40 ESC and the motor, and configure the maximum and minimum throttle values. In the Geometry: Multirotor section, set the rotation direction of the motors and their configuration relative to the center point. 40 / 86 2025 SIYI Technology Copyright...
Page 41 3 、 Check the Mavlink messages. The ESC_STATUS message contains information such as motor speed, voltage, and current. Select the option to plot the data to view the variation of these 41 / 86 2025 SIYI Technology Copyright...
Page 43: Chapter 3 Start Assembly
’ s user manual to match the throttle IDs and motor directions accordingly. For example, with the N7 flight control system (ArduPilot firmware) paired with the E6 propulsion system: Quadcopter 43 / 86 2025 SIYI Technology Copyright...
Page 44 Hexacopter Octocopter Select the corresponding motor based on its orientation (CW or CCW). 44 / 86 2025 SIYI Technology Copyright...
Page 45 NOTE If your SIYI propulsion system is to be used with a close-source commercial flight controller, please carefully check the flight controller user manual regarding throttle ID and motor orientation to avoid improper use and potential safety risks. If 45 / 86...
Page 46: Install And Pre-Tighten The Propulsion System To The Arm
This step requires only pre-tightening the propulsion system, leaving some slack for adjustments during the later balancing process. Steps: Thread the wiring of the propulsion system through the arm tube. 46 / 86 2025 SIYI Technology Copyright...
Page 47 2.Install the propulsion system onto the arm, ensuring only pre- tightening at this stage. Leave room for adjustments during the later balancing process. 47 / 86 2025 SIYI Technology Copyright...
Page 48: Propulsion Balancing
3.Pass the wiring of the propulsion system through the arm tube again. 3.2 Propulsion Balancing Next, use a spirit level to calibrate the balancing of the installed propulsion system along the X and Y axes. 48 / 86 2025 SIYI Technology Copyright...
Page 49: Tightening The Arm
3.3 Tightening the Arm Once the installation and balancing are confirmed, tighten the propulsion system to the arm's carbon tube to ensure a secure installation. 49 / 86 2025 SIYI Technology Copyright...
Page 50: Wiring And Cable Management
Note: The E6 propulsion system is equipped with pre-drilled rivet holes. Please assess whether rivets need to be installed based on the actual situation to ensure the overall structural stability and safety. 3.4 Wiring and Cable Management Now, connect the various cables of the propulsion system to their designated positions and arrange them properly.
Page 51: Pwm Throttle Cable
3.4.1 PWM Throttle Cable Connect the PWM signal cable to the corresponding throttle output pin on the flight controller. 51 / 86 2025 SIYI Technology Copyright...
Page 52: Can Signal Wire (If Necessary)
3.4.2 CAN Signal Wire (if necessary) If using CAN throttle, connect the CAN signal cable to the CAN Hub module and integrate it into the flight controller's CAN port in a bus configuration. 52 / 86 2025 SIYI Technology Copyright...
Page 53: Power Supply Line
Note: If not using CAN throttle, no configuration is needed. 3.4.3 Power Supply Line Connect the power bus to the power supply port of the distribution board. 53 / 86 2025 SIYI Technology Copyright...
Page 54: Debugging And Inspection
Use the ground station software to sequentially send signals to each throttle channel of the flight controller to verify the operation of each throttle ID in the propulsion system and ensure that it matches the default settings of the flight control system. 54 / 86 2025 SIYI Technology Copyright...
Page 55: Motor Direction
Activate each motor one by one through the ground station software to verify the operation of each motor's direction in the propulsion system and ensure that it matches the default settings of the flight control system. 55 / 86 2025 SIYI Technology Copyright...
Page 56: Flight Controller Parameters
Key parameters to focus on include: PID (Proportional, Integral, Derivative control parameters) 56 / 86 2025 SIYI Technology Copyright...
Page 58 Gyroscope and Accelerometer Calibration Status Voltage and Current Monitoring Settings 58 / 86 2025 SIYI Technology Copyright...
Page 59 On this basis, gradually fine-tune the parameters until the drone reaches the optimal flight state. 59 / 86 2025 SIYI Technology Copyright...
Page 60: Installing The Propellers
3.6.1 Matching the Motor Direction The propeller rotation (CW and CCW) should correspond to the motor rotation (CW and CCW) one-to-one. 60 / 86 2025 SIYI Technology Copyright...
Page 61: Installing And Securing The Propellers
3.6.2 Installing and Securing the Propellers The propellers should be secured using M3*8 screws, aligning the propeller holes with the motor assembly holes and tightening the screws. 61 / 86 2025 SIYI Technology Copyright...
Page 63: Chapter 4 Flight Test
4.1 Pre-flight Check A pre-flight check should be conducted every time before powering on. 4.1.1 Check the Propellers Ensure the propellers are properly installed, securely fastened, 63 / 86 2025 SIYI Technology Copyright...
Page 64 If using folding propellers, unfold the blades at this time to avoid unnecessary vibrations during takeoff. 64 / 86 2025 SIYI Technology Copyright...
Page 65: Check The Powertrain
4.1.2 Check the Powertrain Ensure the motors are securely installed and the wiring is correct. 65 / 86 2025 SIYI Technology Copyright...
Page 66 And manually rotate the motors to check for any blockages or stiffness. 66 / 86 2025 SIYI Technology Copyright...
Page 67: Start Flight Testing
’ s response to ensure that all motors and propellers are functioning properly. 4.2.2 Low-Altitude Hover Test The low-altitude hover test is conducted to check the stability and control response of the drone. 67 / 86 2025 SIYI Technology Copyright...
Page 68: Basic Flight Maneuver Test
4.2.3 Basic Flight Maneuver Test Increase the flight altitude and perform basic maneuvers such as forward, backward, lateral translation, and rotation. Observe the drone's response and stability to confirm the propulsion system's responsiveness and stability. 68 / 86 2025 SIYI Technology Copyright...
Page 69: Post-Flight Check
4.3.1 Check the Propellers and Motors Check if the propellers are loose or damaged, and inspect the motors for looseness, blockages, or abnormal heating. 69 / 86 2025 SIYI Technology Copyright...
Page 70: Record And Analyze Flight Data
Analyzing flight data helps to identify flight abnormalities and deficiencies, enabling timely countermeasures to improve flight test efficiency. Key flight test data to focus on include: · Flight time · Power consumption · Flight mode · Abnormal phenomena 70 / 86 2025 SIYI Technology Copyright...
Page 71: Chapter 5 Troubleshooting
Note Before troubleshooting, the propellers should be removed to avoid potential safety risks. Ensure flight data is confirmed to avoid incorrect data analysis, which may lead to inaccurate identification of the issue's cause. 71 / 86 2025 SIYI Technology Copyright...
Page 72: Real-Time Operating Data
After selecting the corresponding ESC ID, the system will display a series of parameters, including throttle status, RPM, voltage, ESC temperature, ESC status, and throttle type. Additionally, real-time waveform graphs will be displayed for monitoring and 72 / 86 2025 SIYI Technology Copyright...
Page 73: Historical Operating Data
5.2 Historical Operating Data Users can refer to the relevant information using the ESC ID. The prefix indicates the corresponding power-on count, while the suffix represents the file number. Based on this naming 73 / 86 2025 SIYI Technology Copyright...
Page 75: Fault Storage Function
Users need to select the corresponding ESC ID based on their actual needs to view the information. When the user clicks the "Details" option, the system will display the occurrence time of the anomaly and the specific details of the issue. 75 / 86 2025 SIYI Technology Copyright...
Page 77: Chapter 6 Firmware Upgrade
CHAPTER 6 FIRMWARE UPGRADE 6.1 Upgrading via UniGCS Software The SIYI Ground Control Station (GCS) software supports users in upgrading the propulsion system ESC firmware. Tools Required  SIYI UniGCS Software (Windows version)  SIYI CAN Link Module  Windows Device Operating Steps 1.
Page 78 2. Run the SIYI Ground Control Station (GCS) software and navigate to the ESC settings menu. 3. Select the corresponding COM port and device type (ESC), then click "Scan." 78 / 86 2025 SIYI Technology Copyright...
Page 79 4. If the propulsion system is successfully recognized, the connection is successful. 79 / 86 2025 SIYI Technology Copyright...
Page 80 5. Click "Update" to upgrade and select the firmware file. 6. Click "Confirm" to start the upgrade and wait for the progress bar to complete. 80 / 86 2025 SIYI Technology Copyright...
Page 82 The upgrade status will be indicated by a change in the color of the indicator light. Once the upgrade is complete, a beep will sound, and the indicator light will return to its original color. 82 / 86 2025 SIYI Technology Copyright...
Page 83: Using Dronecan Protocol To Upgrade Via Mission Planner Software (Ardupilot)
6.2 Using DroneCAN Protocol to Upgrade via Mission Planner Software (ArduPilot) The ArduPilot flight controller supports upgrading the SIYI propulsion system firmware via the DroneCAN protocol. 83 / 86 2025 SIYI Technology Copyright...
Page 84 1. Launch Mission Planner and locate the corresponding port in the PC device manager. 2. Select the appropriate COM port and set the baud rate to 115200. 3. In the DroneCAN / UAVCAN section, click MAVlink-CAN1 to 84 / 86 2025 SIYI Technology Copyright...
Page 85 CAN devices. 4. The option named "SIYI ESC" corresponds to the SIYI propulsion system ESC. 5. In the menu, find the "Update" option, select the ESC firmware to upgrade. During the upgrade process, the mode will be "SOFTWARE_UPDATE," and a progress bar will be displayed.
Page 86: Chapter 7 After-Sale Service
CHAPTER 7 AFTER-SALE SERVICE Please visit the SIYI Technology support page at Service and Support - SIYI Technology | Empowering and Building an Intelligent Robot Ecology for the latest after-sales and warranty information. 86 / 86 2025 SIYI Technology Copyright...

SIYI E6 User Manual

Quick Links

Need help?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for SIYI E6

Summary of Contents for SIYI E6

Table of Contents