Motor error 0x01000000 when testing closed loop control via velocity

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1

Hi all,

So I’ve sucessfully calibrated both hall sensors and my hoverboard style motor without errors, however I’m getting the following error from odrive0.axis0.motor when testing closed loop control via setting velocity commands:

16777216 (uint16)
which converts to the hex code error:
0x01000000 which looks like a system error from the motor

I first enter these commands:
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis0.controller.input_vel = 2

The motor moves for 1-2 seconds and stops.

This is the output from: odrv0.axis0.motor

DC_calib_phA: -0.4268602430820465 (float)
DC_calib_phB: 0.2320336103439331 (float)
DC_calib_phC: 0.1948387771844864 (float)
I_bus: 0.0 (float)
config:
  I_bus_hard_max: inf (float)
  I_bus_hard_min: -inf (float)
  I_leak_max: 0.10000000149011612 (float)
  R_wL_FF_enable: False (bool)
  acim_autoflux_attack_gain: 10.0 (float)
  acim_autoflux_decay_gain: 1.0 (float)
  acim_autoflux_enable: False (bool)
  acim_autoflux_min_Id: 10.0 (float)
  acim_gain_min_flux: 10.0 (float)
  bEMF_FF_enable: False (bool)
  calibration_current: 10.0 (float)
  current_control_bandwidth: 100.0 (float)
  current_lim: 10.0 (float)
  current_lim_margin: 8.0 (float)
  dc_calib_tau: 0.20000000298023224 (float)
  inverter_temp_limit_lower: 100.0 (float)
  inverter_temp_limit_upper: 120.0 (float)
  motor_type: 0 (uint8)
  phase_inductance: 0.0004522507661022246 (float)
  phase_resistance: 0.19346265494823456 (float)
  pole_pairs: 15 (int32)
  pre_calibrated: True (bool)
  requested_current_range: 25.0 (float)
  resistance_calib_max_voltage: 4.0 (float)
  torque_constant: 0.4650000035762787 (float)
  torque_lim: inf (float)
current_control:
  I_measured_report_filter_k: 1.0 (float)
  Ialpha_measured: -3.7667298316955566 (float)
  Ibeta_measured: -3.2100861072540283 (float)
  Id_measured: 4.904476642608643 (float)
  Id_setpoint: 0.0 (float)
  Iq_measured: 0.6619045734405518 (float)
  Iq_setpoint: 6.379796504974365 (float)
  Vd_setpoint: 0.0 (float)
  Vq_setpoint: 0.0 (float)
  final_v_alpha: 1.713279366493225 (float)
  final_v_beta: -1.2373284101486206 (float)
  i_gain: 19.34626579284668 (float)
  p_gain: 0.045225076377391815 (float)
  phase: -2.046341896057129 (float)
  phase_vel: 0.0 (float)
  power: -3.7148144245147705 (float)
  v_current_control_integral_d: -0.5606003999710083 (float)
  v_current_control_integral_q: 1.8080379962921143 (float)
current_meas_phA: 0.4287026822566986 (float)
current_meas_phB: -0.23318833112716675 (float)
current_meas_phC: -0.19548656046390533 (float)
effective_current_lim: 10.0 (float)
error: 16777216 (uint64)
fet_thermistor:
  config: ...
  temperature: 31.7919921875 (float)
is_armed: False (bool)
is_calibrated: True (bool)
last_error_time: 171.6840057373047 (float)
max_allowed_current: 30.375 (float)
max_dc_calib: 3.0375001430511475 (float)
motor_thermistor:
  config: ...
  temperature: 0.0 (float)
n_evt_current_measurement: 6251047 (uint32)
n_evt_pwm_update: 6251061 (uint32)
phase_current_rev_gain: 0.012500000186264515 (float)

I should also add, if I change axis state to idle, and back to closed loop, I am able to once again enter a velocity which causes the motor to once again move for a second before stopping.

EDIT: I just ran dump_errors(odrv0) and got the following:

ODRIVE_ERROR_DC_BUS_OVER_REGEN_CURRENT

A quick search doesnt quite show any direct solutions for solving this.

I am running off of a 56v battery that was used on a segway.

2

Ahah! Ok I solved this but wanted to leave this up incase anyone else has this problem.

After digging deeper into the error:
ODRIVE_ERROR_DC_BUS_OVER_REGEN_CURRENT

It looks like my brake resistor had not been enabled.

By running the following commands the closed loop system worked properly:

odrv0.config.enable_brake_resistor = True
odrv0.save_configuration()

If anyone else has this problem try it, and hopefully itll solve your issue.

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