Beginner question regarding Overtorque

Support
1

Hi everyone!
Hope y’all staying sane on these crazy days leading up to Christmas :slight_smile:

I have ODrive v3.6, powered by two 4S (parallel) lipos
and two of the Dual Shaft Motor - D6374 150kv with the standard matching encoder from the shop website
ODrive control utility v0.6.3.post
FW is updated to latest

After calibration put both motors into AXIS_STATE_CLOSED_LOOP_CONTROL
Then tried to overcome position hold, by manually turnign with hand against the holding current. On axis1 went to far and the oDrive turned off axis1. It suddenly felt very loose and easy to turn, indication CLOSED_LOOP_CONTROL was disengaged.
Checked axis status with

In [41]: odrv0.axis1.current_state
Out[41]: 1
and same on the axis I did not “over torque”
In [41]: odrv0.axis0.current_state
Out[41]: 8
→ Indication axis0 is still in AXIS_STATE_CLOSED_LOOP_CONTROL
→ Indication axis1 is in IDLE

The following settings are in effect:

odrv0.axis0.motor.config.calibration_current = 10.0
odrv0.axis1.motor.config.calibration_current = 10.0

odrv0.axis0.controller.config.vel_limit = 2.0
odrv0.axis1.controller.config.vel_limit = 2.0

odrv0.axis0.motor.config.current_lim = 30.0
odrv0.axis1.motor.config.current_lim = 30.0
odrv0.config.brake_resistance = 5.0

Also checked the error log and got the below output

In [42]: dump_errors(odrv0)
system: no error
axis0
axis: no error
motor: no error
DRV fault: none
sensorless_estimator: no error
encoder: no error
controller: no error
axis1
axis: Error(s):
AxisError.MOTOR_FAILED
AxisError.CONTROLLER_FAILED
motor: Error(s):
MotorError.UNKNOWN_TORQUE
MotorError.UNKNOWN_VOLTAGE_COMMAND
DRV fault: none
sensorless_estimator: no error
encoder: no error
controller: Error(s):
ControllerError.OVERSPEED

Is this normal behavior, or do I have reason to freak out?

2

Does this error remain, if you restart everything and do a FULL CALIBRATION sequence on Axis 1?
I made the experience that a lot of my ODrive problems were gone after a proper restart.

If you want to avoid the full calibration, you can try to execute
odrv.axis1.request_state = AXIS_STATE_CLOSED_LOOP_CONTROL.

This should put the motor back in the state, where it holds its position.

3

Increase these.