Calibration troubles with low KV motor

1

Hi all,

I have an ODrive 3.5 48v version and this motor - https://alienpowersystem.com/shop/brushless-motors/aps-5065-outrunner-brushless-motor-60kv-1800w/

Every time I try motor calibration the motor beeps, doesn’t move, then I get a motor error 0x11 which is ERROR_CONTROL_DEADLINE_MISSED and ERROR_PHASE_RESISTANCE_OUT_OF_RANGE.

The resistance between the motor terminals ranges from 1.1 - 1.3ohms.

I’ve tried the devel branch with the hoverboard tips but no improvement:
odrv0.axis0.motor.config.resistance_calib_max_voltage = 4
odrv0.axis0.motor.config.requested_current_range = 25 #Requires config save and reboot
odrv0.axis0.motor.set_current_control_bandwidth(100)

I’m now a bit lost as to what to change now. Any help is gratefully appreciated.

Cheers,
Ross

2

That’s a very high resistance. Try setting the odrv0.axis0.motor.config.resistance_calib_max_voltage to like 8V.

3

Thanks! That seemed to help. I also lowered the controller gains.

Measure motor params:
odrv0.axis0.motor.config.phase_inductance = 0.0002848
odrv0.axis0.motor.config.phase_resistance = 0.5104

Doing a full calibration now works and I have followed the encoder guide to only require an index search upon reboot. Rebooting and doing the search works with the odrive reporting index_found = True. Now when I go back into closed_loop_control state the motor instantly spins at some very high rpm and vel_setpoint has no effect.

Any ideas what I’m doing wrong?