I am trying to get a dual motor platform to work properly in velocity control mode. I got 2 200KV 7 polepair hallsensored motors - https://alienpowersystem.com/shop/brushless-motors/63mm/aps-6374s-sensored-outrunner-brushless-motor-200kv-3200w/ using a Odrive V3.5 that I had lying around from another project (cost is an issue). Updated fw to latest. Setup worked following the hoverboard motor guide and velocity control generally works well but I keep on getting motor current limit violations not only during acceleration/deceleration but also just running at a constant speed.This happens more frequently during higher velocity operation. vel_limit for both motors is 50 so 50x7=350<600Hz should be fine. I’m running from 7S Li-Ion so around 25V (25V*200KV/60s=83,3>50, should be fine) Motor current limit is set to 80A. Iq setpoint as well as Iq measured as plotted using odrivegui are only about 6A when it cuts out. I’ll post an image soon as I forgot to take a screenshot. → I don’t know why the motor current limit error even appears but another more general question that I have is if it is possible to (instead of erroring out) make the odrive work within the set limitations.
In my application, which is similar to the shopping cart from the hoverboard example, it doesn’t really matter much if position is lost or the commanded velocity just can’t be reached within the current limit → it should in this case just go as fast as it can within the current limit. Is it possible to configure such a behaviour ? Erroring out should be the very last thing it does only allowed to prevent damage to itself - all other conditions I would rather it to do it’s “best effort” instead of just erroring out and giving up.
I did try using torque control mode and changing the vel_limit rather than velocity control but that produced significantly less torque at low speeds invariant to the commanded torque ,which may be due to improper tuning of the torque controller but I’m uncertain if it is even the right stategy to achieve the expected behaviour.
Hope someone can help