Configure Neo 550 motor

Support ODrive S1 Support
1

We are trying to configure a Neo 550 to an Odrive S1 Motor controller for the purpose of autonomous steering.

I am currently having trouble calibrating it on the Web GUI. More specifically, I am running into PHASE_RESISTANCE_OUT_OF_RANGE error. When I checked for the odrv0.axis0.config.motor.phase_inductance and odrv0.axis0.config.motor.phase_resistance on the ODrive tool I got zero values for both. I already checked for the following two conditions:

config.motor.resistance_calib_max_voltage > calibration_current * phase_resistance
config.motor.resistance_calib_max_voltage < 0.5 * vbus_voltage

I might not have configured the pole pairs correctly and I didn’t set up the brake resistor yet.

2

Hi there - looks like you sent an email about this as well, would you like to keep discussion here or over email? Whatever works best for you!

3

Hi, sorry I didn’t get your email. We can continue the discussion here so that other people can see it.

Right now I have:
odrv.axis0.config.motor.resistance_calib_max_voltage = 12
odrv.axis0.config.motor.calibration_current = 12

Here’s the entire script if you want to look at it:
odrv = odrv0
odrv.config.dc_bus_overvoltage_trip_level = 24
odrv.config.dc_bus_undervoltage_trip_level = 10.5
odrv.config.dc_max_positive_current = 14
odrv.config.dc_max_negative_current = -0.01
odrv.axis0.config.motor.motor_type = MotorType.HIGH_CURRENT
odrv.axis0.config.motor.torque_constant = 0.009018538713195202
odrv.axis0.config.motor.pole_pairs = 7
odrv.axis0.config.motor.current_soft_max = 24
odrv.axis0.config.motor.current_hard_max = 41.2
odrv.axis0.config.motor.calibration_current = 12
odrv.axis0.config.motor.resistance_calib_max_voltage = 12
odrv.axis0.config.calibration_lockin.current = 50
odrv.axis0.controller.config.input_mode = InputMode.PASSTHROUGH
odrv.axis0.controller.config.control_mode = ControlMode.POSITION_CONTROL
odrv.axis0.controller.config.vel_limit = 10
odrv.axis0.controller.config.vel_limit_tolerance = 1.2
odrv.axis0.config.torque_soft_min = -0.97
odrv.axis0.config.torque_soft_max = 0.97
odrv.can.config.protocol = Protocol.NONE
odrv.config.enable_uart_a = False
odrv.rs485_encoder_group0.config.mode = Rs485EncoderMode.ODRIVE_OA1
odrv.axis0.config.load_encoder = EncoderId.RS485_ENCODER0
odrv.axis0.config.commutation_encoder = EncoderId.RS485_ENCODER0

Connected to ODrive S1 3950357D3231 (firmware v0.6.9) as odrv0

This is what I’m getting on odrivetool:
In [1]: odrv0.axis0.config.motor.phase_inductance

Out[1]: 0.0

In [2]: odrv0.axis0.config.motor.phase_resistance

Out[2]: 0.037325840443372726

4

If I press erase and reboot before calibrating, it turns the encoder off and the motor spins with the No_Reponse error popping up. However, when I get the encoder in range and calibrate after applying and saving the configuration, I run into the phase induction error.

5

Some thoughts:

  • Your resistance calib max voltage is quite high, this is also used for inductance calibration (it could use a better name…) – can you try lowering this to 2V?
  • Your calibration lockin current is quite high - are you calibrating with a significant load on the motor? I’d recommend lowering this to 20A if possible.
  • You say “get the encoder in range” - how is the encoder mounted to the motor? It’s important that the encoder’s mounting is rigid and fixed throughout calibration and doesn’t change afterwards, since a consistent encoder to motor angle correlation is essential to calibration and operation.
6

Thank you! Those tips helped pass calibration. And sorry for the confusion, the encoder is mounted via a bracket and is lighting green. However, the magnet is the perfectly centered on the motor and is moving a little. But the distance from the magnet is constant.

After calibration, I am running into the DC_BUS_OVER_REGEN_CURRENT when I try to use position or velocity control. I am planning on hooking up the brake resistor to see if that fixes the problem.

7

Glad to hear things are working out!

Yes, the brake resistor should solve the over regen issue :slight_smile: