ODrive 0.5.6 **does not support automatic motor stopping** when an endstop is triggered

1

Hi
I am planning my 6 DOF motion simulation and using 6 actuators for each actuator i am using 2 hoverboard motors. I am controlling each actuator via one Odrive V3.6 and 56 volt. And running the system via Uart.
My problem is that i am planning to install end stop and using the following code:

Set GPIO pin for series-connected limit switches (example GPIO 3)

shared_limit_gpio = 3

Configure the shared limit stop (both axes stop when triggered)

odrv0.axis0.min_endstop.config.gpio_num = shared_limit_gpio

odrv0.axis0.min_endstop.config.is_active_high = True # Active when triggered (circuit closed)

odrv0.axis0.min_endstop.config.enabled = True

odrv0.axis0.min_endstop.config.debounce_ms = 50

odrv0.axis0.min_endstop.config.endstop_stop_on_active = True

odrv0.axis1.min_endstop.config.gpio_num = shared_limit_gpio

odrv0.axis1.min_endstop.config.is_active_high = True

odrv0.axis1.min_endstop.config.enabled = True

odrv0.axis1.min_endstop.config.debounce_ms = 50

odrv0.axis1.min_endstop.config.endstop_stop_on_active = True

It semms to be that ODrive 0.5.6 does not support automatic motor stopping when an endstop is triggered.
Looking for help or any ideas ?

Best regards
Shaker

2

Hi,

First, I wanted to ask where you found the following code:
odrv0.axis0.min_endstop.config.endstop_stop_on_active = True

This isn’t an ODrive property, and I want to make sure the docs aren’t out of date somewhere.

Other than that,

It semms to be that ODrive 0.5.6 does not support automatic motor stopping when an endstop is triggered.

When the endstop is triggered, the ODrive will exit from closed loop into IDLE, with an error of either MIN_ENDSTOP_PRESSED or MAX_ENDSTOP_PRESSED. Are you experiencing an issue with this behavior?

3

Hi
This code i got from chatgpt .

Anyway i don’t know how to configure MIN_ENDSTOP_PRESSED AND MAX_ENDSTOP_PRESSED.

4

I’d definitely not use ChatGPT, it’s never correct with our API.

You can see info on endstop configuration here: Endstops and Homing — ODrive Documentation 0.5.6 documentation