Current Saturation at 35A

Hi All,

I’ve run into an issue using Velineon 1600XL with O-Drive. In particular, the O-Drive has been throwing a current sensor saturation error very consistently at 35a. I’ve tried fiddling with the control loop tuning parameters, and the current limit (currently set at 60a), but haven’t had any success budging the saturation current.

Any suggestions for how I should go about debugging the issue further?

Thanks,
Jake

What value is motor.config.requested_current_range ?

I’ll take a look and get back to you.

Thanks for the help!

I had it at 25, upped it to 80 and the problem went away completely!

If you don’t mind the question, what does that parameter change?

Thank you so much for your help,
Jake

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That setting reconfigures the DRV chip on the board to use a different gain for the current measurement amplifier. If it’s too low then the amplifier will eventually saturate and throw the error.