Hi, i have 2 odrive 3.5 24v with the same configuration and same motor, can you explain the huge difference when i see the data odrv0.axis0.motor between my 2 odrive in DC_calib_phB ,DC_calib_phC and Ibus .
MOTOR ODRIVE 1
Out[1]:
error = 0x0000 (int)
armed_state = 3 (int)
is_calibrated = True (bool)
current_meas_phB = -0.020156502723693848 (float)
current_meas_phC = -0.021816730499267578 (float)
DC_calib_phB = -1.1680517196655273 (float)
DC_calib_phC = -1.1262027025222778 (float)
phase_current_rev_gain = 0.012500000186264515 (float)
current_control:
p_gain = 0.027268648147583008 (float)
i_gain = 115.6319580078125 (float)
v_current_control_integral_d = -0.0016106505645439029 (float)
v_current_control_integral_q = -0.001923346077091992 (float)
Ibus = 3.259474760852754e-05 (float)
final_v_alpha = -0.004957110155373812 (float)
final_v_beta = 0.0019898228347301483 (float)
Iq_setpoint = -0.03281838074326515 (float)
Iq_measured = 0.09933115541934967 (float)
max_allowed_current = 35.999996185302734 (float)
gate_driver:
drv_fault = 0 (int)
timing_log:
TIMING_LOG_GENERAL = 0 (int)
TIMING_LOG_ADC_CB_I = 937 (int)
TIMING_LOG_ADC_CB_DC = 10967 (int)
TIMING_LOG_MEAS_R = 4377 (int)
TIMING_LOG_MEAS_L = 4365 (int)
TIMING_LOG_ENC_CALIB = 4649 (int)
TIMING_LOG_IDX_SEARCH = 0 (int)
TIMING_LOG_FOC_VOLTAGE = 4583 (int)
TIMING_LOG_FOC_CURRENT = 6875 (int)
config:
pre_calibrated = False (bool)
pole_pairs = 11 (int)
calibration_current = 5.0 (float)
resistance_calib_max_voltage = 2.0 (float)
phase_inductance = 2.7268648409517482e-05 (float)
phase_resistance = 0.11563196033239365 (float)
direction = -1 (int)
motor_type = 0 (int)
current_lim = 10.0 (float)
MOTOR ODRIVE 2
In [1]: odrv0.axis0.motor
Out[1]:
error = 0x0000 (int)
armed_state = 3 (int)
is_calibrated = True (bool)
current_meas_phB = -0.5033717155456543 (float)
current_meas_phC = 0.37603139877319336 (float)
DC_calib_phB = 7.009298801422119 (float)
DC_calib_phC = 6.432031154632568 (float)
phase_current_rev_gain = 0.012500000186264515 (float)
thermal_current_lim = 44.40547180175781 (float)
get_inverter_temp()
current_control:
p_gain = 0.013654110953211784 (float)
i_gain = 95.9004135131836 (float)
v_current_control_integral_d = -0.020258361473679543 (float)
v_current_control_integral_q = -0.03397015854716301 (float)
Ibus = 0.0014318973990157247 (float)
final_v_alpha = 0.0013086069375276566 (float)
final_v_beta = -0.04061712697148323 (float)
Iq_setpoint = -0.5143601894378662 (float)
Iq_measured = -0.3055749535560608 (float)
Id_measured = -0.0882844626903534 (float)
I_measured_report_filter_k = 1.0 (float)
max_allowed_current = 30.375 (float)
overcurrent_trip_level = 33.75 (float)
gate_driver:
drv_fault = 0 (int)
timing_log:
TIMING_LOG_GENERAL = 0 (int)
TIMING_LOG_ADC_CB_I = 2618 (int)
TIMING_LOG_ADC_CB_DC = 13026 (int)
TIMING_LOG_MEAS_R = 6610 (int)
TIMING_LOG_MEAS_L = 6614 (int)
TIMING_LOG_ENC_CALIB = 6950 (int)
TIMING_LOG_IDX_SEARCH = 0 (int)
TIMING_LOG_FOC_VOLTAGE = 6898 (int)
TIMING_LOG_FOC_CURRENT = 7766 (int)
config:
pre_calibrated = False (bool)
pole_pairs = 11 (int)
calibration_current = 5.0 (float)
resistance_calib_max_voltage = 2.0 (float)
phase_inductance = 1.3654111171490513e-05 (float)
phase_resistance = 0.09590041637420654 (float)
direction = 1 (int)
motor_type = 0 (int)
current_lim = 10.0 (float)
current_lim_tolerance = 1.25 (float)
inverter_temp_limit_lower = 100.0 (float)
inverter_temp_limit_upper = 120.0 (float)
requested_current_range = 20.0 (float)
current_control_bandwidth = 1000.0 (float)
Thanks!