The Low Voltage Cutoff on an ESC is adjustable to allow users to fine tune the voltage that the ESC will allow the battery to reach before the ESC activates safety mode.
Most ESCs will have a Low Voltage Safety set to "Auto". Various models of ESC's have slightly different LiPo Auto Settings, so each setup may require slightly different Low Voltage (LiPo) Cut Off settings.
Auto, often works okay, but can be too safe (high) for some racing applications and require adjustment off Auto, to a specific voltage. Typically setting the ESC to 3.3 or 3.1 volts Per Cell (example 2s = 6.6, or 6.2) are typically safe for the battery, while still allowing race-ability.
Also to note, after the cut off has been activated and the "load" on the battery has been removed the battery will usually read a higher voltage. (usually referenced as recovered voltage). This is normal as the voltage of the battery when "loaded" down will always be lower than the battery voltage checked statically (disconnected from a load).
With an ESC that has data logging you can check the saved data to see what your lowest voltage was on the battery on that run.
As batteries get "worn" they will usually loose there capacity, and that may cause the LVC to get activated a bit sooner. Overall you will want to monitor the health of your batteries as well. Do not be alarmed if you check the voltage after hitting the cut off and the battery voltage is slightly over the cutoff voltage. If its closer to full after hitting the cut off you may want to check the condition of your battery.
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