Hi,
I am trying to read the current being drawn by the motors over CAN, but the bus current is always reported as zero (0). I am able to decode the bus voltage fine from the same CAN message.
CAN is otherwise working fine. I am able to set limits, setpoints, read encoder positions and velocities, etc. So it’s most definitely not an issue with CAN.
To repro:
- Set an axis into any closed loop control mode (need to get it moving for it to draw any current). I have tried setting it to torque control mode and locking the motor, or to velocity control and adding friction to the motor.
- Send message GET_BUS_VOLTAGE_CURRENT (0x017) over CAN to the desired axis.
- Decode the 4 bytes starting from byte 0 into the bus voltage value (this works fine)
- Decode the 4 bytes starting from byte 4 into the bus current value (this does not work).
Note that the decoding process is exactly the same as that for encoder_position and encoder_velocity, which I am able to do successfully.
Could it be that the ibus_ value is not set properly when populating the CAN message in the ODrive firmware? And the message being sent from the ODrive is in fact 0?
