Hello everyone,
I’m new to motor control and odrive and I can’t get the odrive to work with my motor.
I have a Maxon EC flat motor with an encoder mounted on it.
It’s this motor:
https://www.maxongroup.com/maxon/view/product/motor/ecmotor/ecflat/ecflat90/607942
with this encoder:
https://www.maxongroup.com/maxon/view/product/621792
To me it seems this motor would be supported out of the box. When I issue the calibration command the motor tries to spin up but stops almost immediately. When I check the errors it says ERROR_MOTOR_FAILED and ERROR_PHASE_RESISTANCE_OUT_OF_RANGE. On the troubleshooting page this error is mentioned. But the values for phase resistance is 0…
In [11]: odrv0.axis0.motor.config.phase_inductance
Out[11]: 0.0
In [12]: odrv0.axis0.motor.config.phase_resistance
Out[12]: 0.0
The rest of the help seems to be geared to low peak current motors. But the motor I’m using has a peak current (stall?) of 111 A so this doesn’t seem applicable. I have checked the wires and everything seems correct. I also get some errors from the odrivetool but I think that is unrelated.
This is the full command set I used to try and get it working:
$ odrivetool
ODrive control utility v0.4.12
/usr/local/lib/python3.7/dist-packages/fibre/shell.py:104: RuntimeWarning: coroutine 'InteractiveShell.run_code' was never awaited
console.runcode('import sys')
RuntimeWarning: Enable tracemalloc to get the object allocation traceback
/usr/local/lib/python3.7/dist-packages/fibre/shell.py:105: RuntimeWarning: coroutine 'InteractiveShell.run_code' was never awaited
console.runcode('superexcepthook = sys.excepthook')
RuntimeWarning: Enable tracemalloc to get the object allocation traceback
/usr/local/lib/python3.7/dist-packages/fibre/shell.py:106: RuntimeWarning: coroutine 'InteractiveShell.run_code' was never awaited
console.runcode('def newexcepthook(ex_class,ex,trace):\n'
RuntimeWarning: Enable tracemalloc to get the object allocation traceback
/usr/local/lib/python3.7/dist-packages/fibre/shell.py:109: RuntimeWarning: coroutine 'InteractiveShell.run_code' was never awaited
console.runcode('sys.excepthook=newexcepthook')
RuntimeWarning: Enable tracemalloc to get the object allocation traceback
Please connect your ODrive.
You can also type help() or quit().
Connected to ODrive 206C3868304E as odrv0
In [1]: odrv0.axis0.motor.config.current_lim
Out[1]: 10.0
In [2]: odrv0.axis0.controller.config.vel_limit
Out[2]: 2000.0
In [3]: odrv0.axis0.motor.config.calibration_current
Out[3]: 20.0
In [4]: odrv0.config.brake_resistance
Out[4]: 2.0
In [5]: odrv0.axis0.motor.config.pole_pairs
Out[5]: 11
In [6]: odrv0.axis0.motor.config.motor_type
Out[6]: 0
In [7]: odrv0.axis0.encoder.config.cpr
Out[7]: 25600
In [8]: dump_errors(odrv0)
axis0
axis: no error
motor: no error
encoder: no error
controller: no error
axis1
axis: no error
motor: no error
encoder: no error
controller: no error
In [9]: odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQU
...: ENCE
In [10]: dump_errors(odrv0)
axis0
axis: Error(s):
ERROR_MOTOR_FAILED
motor: Error(s):
ERROR_PHASE_RESISTANCE_OUT_OF_RANGE
encoder: no error
controller: no error
axis1
axis: no error
encoder: no error
controller: no error
In [11]: odrv0.axis0.motor.config.phase_inductance
Out[11]: 0.0
In [12]: odrv0.axis0.motor.config.phase_resistance
Out[12]: 0.0
In [13]: odrv0.axis0.motor.config.phase_inductance
Out[13]: 0.0
In [14]: odrv0.axis0.motor.config.phase_resistance
Out[14]: 0.0
In [15]:
In [15]: odrv0.reboot()
Oh no odrv0 disappeared
----------------------------------------------------------------------
ChannelBrokenException Traceback (most recent call last)
/usr/local/lib/python3.7/dist-packages/fibre/shell.py in <module>
----> 1 odrv0.reboot()
/usr/local/lib/python3.7/dist-packages/fibre/remote_object.py in __call__(self, *args)
160 for i in range(len(args)):
161 self._inputs[i].set_value(args[i])
--> 162 self._parent.__channel__.remote_endpoint_operation(self._trigger_id, None, True, 0)
163 if len(self._outputs) > 0:
164 return self._outputs[0].get_value()
/usr/local/lib/python3.7/dist-packages/fibre/protocol.py in remote_endpoint_operation(self, endpoint_id, input, expect_ack, output_length)
307 try:
308 if wait_any(self._resend_timeout, ack_event, self._channel_broken) != 0:
--> 309 raise ChannelBrokenException()
310 except TimeoutError:
311 attempt += 1
ChannelBrokenException:
Reconnected to ODrive 206C3868304E as odrv0
In [16]: