Motor did not run properly with hall sensor

1

Hi everyone,

I am using ODrive for a constant torque polling rotation count project, encountering some problems need help.

Setting:
odrivetool 0.5.1
ODrive 3.5-48V one channel version, firmware firmware 0.4.12
motor(387250).

Problem 1
When I tried senseless mode, the motor started rotating, and stopped within 2 seconds when current was closed to 5A, and error code = 0x0040
odrv0.axis0.controller.vel_setpoint = 5
odrv0.axis0.requested_state = AXIS_STATE_SENSORLESS_CONTROL

When tried velocity closed loop control, the motor would not spin.
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

Problem 2
odrv0.axis0.encoder.shadow_count increased very quick, even if I just turned the motor a little bit, shadow_count increased by 2 or more.

Problem 3
If I update firmware to fw-v0.5.2, windows and odrivetool could not detect any odrive device, if update firmware to v0.5.1, the vbus_voltage was fixed to 12.0V, and could not read any encoder value, motor could not spin at all.

Here is my config
In [116]: odrv0.axis0.motor
Out[116]:
error = 0x0000 (int)
armed_state = 0 (int)
is_calibrated = True (bool)
current_meas_phB = -0.0747307538986206 (float)
current_meas_phC = 0.15085291862487793 (float)
DC_calib_phB = -1.2545756101608276 (float)
DC_calib_phC = -1.6411025524139404 (float)
phase_current_rev_gain = 0.012500000186264515 (float)
thermal_current_lim = 44.389366149902344 (float)
get_inverter_temp()
current_control:
p_gain = 0.02551434375345707 (float)
i_gain = 63.82950210571289 (float)
v_current_control_integral_d = 0.0 (float)
v_current_control_integral_q = 0.0 (float)
Ibus = 0.0 (float)
final_v_alpha = 0.0 (float)
final_v_beta = 0.0 (float)
Iq_setpoint = 0.0 (float)
Iq_measured = 0.0 (float)
Id_measured = 0.0 (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 = 2434 (int)
TIMING_LOG_ADC_CB_DC = 12850 (int)
TIMING_LOG_MEAS_R = 6650 (int)
TIMING_LOG_MEAS_L = 6658 (int)
TIMING_LOG_ENC_CALIB = 0 (int)
TIMING_LOG_IDX_SEARCH = 0 (int)
TIMING_LOG_FOC_VOLTAGE = 6618 (int)
TIMING_LOG_FOC_CURRENT = 0 (int)
config:
pre_calibrated = True (bool)
pole_pairs = 8 (int)
calibration_current = 2.0 (float)
resistance_calib_max_voltage = 4.0 (float)
phase_inductance = 0.00025514344451949 (float)
phase_resistance = 0.6382949948310852 (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 = 3.0 (float)
current_control_bandwidth = 100.0 (float)

In [117]: odrv0.axis0.encoder
Out[117]:
error = 0x0000 (int)
is_ready = True (bool)
index_found = False (bool)
shadow_count = 1 (int)
count_in_cpr = 1 (int)
interpolation = 0.5 (float)
phase = 0.015839576721191406 (float)
pos_estimate = 1.9875190258026123 (float)
pos_cpr = 1.9875190258026123 (float)
hall_state = 3 (int)
vel_estimate = 0.0 (float)
calib_scan_response = 0.0 (float)
config:
mode = 1 (int)
use_index = False (bool)
find_idx_on_lockin_only = False (bool)
pre_calibrated = True (bool)
zero_count_on_find_idx = True (bool)
cpr = 48 (int)
offset = 24 (int)
offset_float = 1.484874963760376 (float)
enable_phase_interpolation = True (bool)
bandwidth = 50.0 (float)
calib_range = 0.05000000074505806 (float)
calib_scan_distance = 50.26548385620117 (float)
calib_scan_omega = 12.566370964050293 (float)
idx_search_unidirectional = False (bool)
ignore_illegal_hall_state = False (bool)
set_linear_count(count: int)

I dont know if it is a config setting, since phase_inductance and phase_resistance is roughly half of the datasheet shown.

I would really appericate if anyone could help.

Thanks a lot

2

There is no such product from ODrive - what you have is a fake clone sold by some unscrupulous person on AliExpress. :frowning:

All of the official ODrive 3.x are dual-axis, and the firmware cannot work for a single-axis without modification - so your board must have come with unofficial firmware.
As such, none of the firmware versions from the repo will work - the code will get stuck booting up waiting for the second axis DRV chip.

The ODrive developers do not get any money from these fakes, and they often have extra problems because the hardware is different, and the firmware may have unknown modifications. It’s not fair to the developers to expect support for these, and It’s not even feasible to support them due to the unknown modifications.

Is it possible for you to return this board to the seller and buy one from the official shop?

3

Hi towen

Thanks for replying!

Change to an official one and work great!
But phase inductance and phase resistance is still half of the datasheet shown. Would it be any problem? How could I tune these value?

Thanks

1 Like
4

Nice :smiley:

It may be that the datasheet is quoting the resistance and inductance of each phase (in a star/wye configuration) and the ODrive is measuring phase-to-phase resistance and inductance (which would be double).

There is no need to tune the values. You can increase motor.config.calibration_current to use a higher current to make the measurement, which can be useful for very low resistance motors (< 0.1 Ohm)

5

Thanks for replying!
Helped a lot. Thanks!

1 Like