Hi everyone! I’m trying to use odrive for torque control when speed is zero. I need constant resistance.
I’m using herlea x8311s kv140 motor, as5048a encoder and odrive3.6 56V board. Firmware I’m running is latest 0.5.1 version. My power supply is laboratory power supply able to give voltage and current up to 30V and 30A.
In torque control mode i set
input_torque to some value and
torque_setpoint follows that value but the current doesn’t match the desired torque. I measure current from
odrv0.axis0.motor.current_control.Iq_measured and it is completely different from the torque reference. Also
odrv0.axis0.motor.current_control.Iq_setpoint matches the measured current but not desired torque and it is dropping. Current into Odrive is also dropping. My
vel_limit= 20 and
enable_current_mode_vel_limit = True and motor is barely moving. Cranck is connected to motor shaft and it is driven into a board as shown on the picture.
I also wrote a script to measure input torque and torque given by current. On next graphs
estimated torque = 8.27 * odrv0.axis0.motor.current_control.Iq_measured / 140
reference torque = 8.27 * odrv0.axis0.motor.current_control.Iq_setpoint / 140and
torque_setpointare self explanatory.
Can anybody tell me if this can be done and if I’m doing something wrong or expecting it to work in a way it doesn’t work. And why…