I was running the ODrive in position control and checking the stability under different loads. The motor I’m using is T-motor P80 III kv120. When I keep on increasing the weights, ODrive starts giving motor_error “MOTOR_ERROR_CURRENT_LIMIT_VIOLATION” when set/measured current reaches 70A.
I have set the ODrive configuration as follows;
In : odrv0.axis1.motor.config.current_lim
In : odrv0.axis1.motor.config.requested_current_range
ODrive shows instability when set/measured current reaches the 70A as shown in the attached image.
Is it due to the shunt conductance? and if so do I need to change shunt resistors?
Thanks and stay safe.