Iq_measured does not do so even if Iq_setpoint is set above 1A. I have disabled current limiting and speed limiting. I would like someone to help me.
Can you please provide more information as to your motor and encoder? Additionally, please check torque_soft_max and torque_soft_min - the GUI will limit these to 20% of the motor’s torque_constant*current_soft_max by default for safety.
The motor and encoder information is shown here.And torque_soft_max was set to inf and torque_soft_min to -inf.
In [128]: odrv0.axis0.motor
Out[128]:
acim_estimator:
phase_offset: 0.0 (float)
rotor_flux: 0.0 (float)
slip_vel: 0.0 (float)
stator_phase: 0.0 (float)
stator_phase_vel: 0.0 (float)
alpha_beta_controller:
I_bus: -0.0017145402962341905 (float)
Ialpha_measured: 0.332289457321167 (float)
Ibeta_measured: 0.3992462158203125 (float)
current_meas_phA: 0.12933014333248138 (float)
current_meas_phB: -0.42622050642967224 (float)
current_meas_phC: 0.2721347212791443 (float)
current_meas_status_phA: 0 (uint32)
current_meas_status_phB: 0 (uint32)
current_meas_status_phC: 0 (uint32)
max_measurable_current: 60.75 (float)
n_evt_current_measurement: 78367 (uint32)
n_evt_pwm_update: 66262 (uint32)
power: -0.028541279956698418 (float)
effective_current_lim: 10.0 (float)
electrical_power: -0.050637274980545044 (float)
fet_thermistor:
temperature: 32.46650314331055 (float)
foc:
I_measured_report_filter_k: 1.0 (float)
Id_measured: 0.07795225083827972 (float)
Id_setpoint: 0.0 (float)
Iq_measured: 0.012769162654876709 (float)
Iq_setpoint: 0.0 (float)
Vd_setpoint: 0.0 (float)
Vq_setpoint: 0.0 (float)
final_v_alpha: -0.02404341660439968 (float)
final_v_beta: -0.058409400284290314 (float)
i_gain: 107.74141693115234 (float)
mod_d: 0.0025692221242934465 (float)
mod_q: 0.004841165617108345 (float)
p_gain: 0.16524852812290192 (float)
phase: 0.687923789024353 (float)
phase_vel: 0.0 (float)
v_current_control_integral_d: -0.011712869629263878 (float)
v_current_control_integral_q: 0.022055428475141525 (float)
input_id: 0.0 (float)
input_iq: 0.0 (float)
mechanical_power: 0.0 (float)
motor_thermistor:
config: …
temperature: nan (float)
resistance_calibration_I_beta: 0.0 (float)
sensorless_estimator:
phase: 0.5969120860099792 (float)
phase_vel: -0.06061820685863495 (float)
pll_pos: 0.597493588924408 (float)
torque_estimate: -0.3818042278289795 (float)
In [129]: odrv0.hall_encoder0
Out[129]:
abs_pos_max: 0.7716668844223022 (float)
abs_pos_min: 0.6041807532310486 (float)
config:
enabled: True (bool)
hall_polarity: 0 (uint8)
hall_polarity_calibrated: True (bool)
ignore_illegal_hall_state: False (bool)
hall_cnt: 3 (uint8)
raw_hall_state: 6 (uint8)
status: 0 (uint8)
Apologies for the delay in reply.
Can you also post odrv0.axis0.config.motor?
A motor datasheet or part number would be helpful.
Are you only using hall sensors?
What control mode are you using?
What bus voltage?