# Thruster stalling and not relaunching
**URL:** https://discuss.bluerobotics.com/t/thruster-stalling-and-not-relaunching/9854
**Category:** Thrusters and Motors
**Tags:** thruster
**Created:** [June 7, 2021, 8:35pm UTC](https://discuss.bluerobotics.com/t/thruster-stalling-and-not-relaunching/9854 "2021-06-07T20:35:29Z")
**Posts on this page:** 6
**Page:** 1
### Author:  [@rico](https://discuss.bluerobotics.com/u/rico)
#### Post date: [June 7, 2021, 8:35pm UTC](https://discuss.bluerobotics.com/t/thruster-stalling-and-not-relaunching/9854/1 "2021-06-07T20:35:29Z")
I am kinda stuck here, coming from Quads i know the Basics about ESC Config etc. but i dont get the T200 R1 Thrusters to work reliably.
I have used the default BLHeli32 Setting with LOW RPM Protection off but sometimes a Motor did stall somehow. I found the BLHeli Config file here in the Forum but i got a lot worse. I played with some settings but no success. I am using Tekko32 ESCs, is there something special about the BR ESC?
I will attach a short video where you can see and hear the stall. Listen carefully to the motor after i release the throttle and zoom in on the Motor itself, it makes a buzzing sound even without throttle. Just after turning it about 1/2 round it stops and spins freely again.
Any help is appreciated. Thanks!
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### Author:  [@rico](https://discuss.bluerobotics.com/u/rico)
#### Post date: [June 7, 2021, 8:40pm UTC](https://discuss.bluerobotics.com/t/thruster-stalling-and-not-relaunching/9854/2 "2021-06-07T20:40:44Z")
[ ](https://www.youtube.com/watch?v=5n0rdtZwJuo)
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### Author:  [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)
#### Post date: [June 8, 2021, 7:53am UTC](https://discuss.bluerobotics.com/t/thruster-stalling-and-not-relaunching/9854/3 "2021-06-08T07:53:41Z")
Hi @rico, welcome to the forum 🙂
> [@rico](#):
>
> is there something special about the BR ESC?
> [@Brand new T200 extremely slow](https://discuss.bluerobotics.com/t/brand-new-t200-extremely-slow/8541/2):
>
> If your ESC has any settings along the lines of “low RPM power protect” and “demag compensation”, you will need to turn those off to properly run a low Kv motor like the T200.
> [@T100 and adafruit pca9685](https://discuss.bluerobotics.com/t/t100-and-adafruit-pca9685/9398/3):
>
> Try 200 or 400 Hz [pwm frequency].
>
> Here is the firmware manual: [https://bluerobotics.com/wp-content/uploads/2018/10/BLHeli\_S-manual-SiLabs-Rev16.x.pdf](https://bluerobotics.com/wp-content/uploads/2018/10/BLHeli_S-manual-SiLabs-Rev16.x.pdf)
>
> Note that Blue Robotics ESCs are programmed differently than most escs where the zero-throttle signal is 1500us rather than the usual 1100us.
Hopefully one or both of those is helpful?
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### Author:  [@rico](https://discuss.bluerobotics.com/u/rico)
#### Post date: [June 8, 2021, 12:22pm UTC](https://discuss.bluerobotics.com/t/thruster-stalling-and-not-relaunching/9854/4 "2021-06-08T12:22:59Z")
Not that much since I am using this already. What about the commutation timing, you recommend 3°, really this low?
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### Author:  [@adam](https://discuss.bluerobotics.com/u/adam)
#### Post date: [June 9, 2021, 1:40am UTC](https://discuss.bluerobotics.com/t/thruster-stalling-and-not-relaunching/9854/5 "2021-06-09T01:40:20Z")
Hi @rico,
Not sure what’s going on here, but it may be an ESC firmware issue. Try loading the analogous settings as we use on the BasicESC to your ESC:
Note that “Medium” timing in BlHeli\_S corresponds to 15°.
-Adam
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### Author:  [@rico](https://discuss.bluerobotics.com/u/rico)
#### Post date: [June 9, 2021, 8:12am UTC](https://discuss.bluerobotics.com/t/thruster-stalling-and-not-relaunching/9854/6 "2021-06-09T08:12:04Z")
Thanks a lot! I just dumped your config into BLHELI32 Suite but it does not interpret the values correct.
I did test yesterday with an Throttle Increase Limit rate of 1%/ms and it worked fine. I will test the correct settings you posted today and will upload the results.