Hi there, I’m trying to run 6 Odrive D5065 - 270 kV motors for a drive train, however 4/6 of the motors are running into issues delivering enough torque. Using velocity control on closed loop configuration at speed 10 rps we are able to stop the motor with our hand, then it is not recovering and heating up the wires a lot with the current draw. The odrive and encoder being used for the different motors are the same, Odrive V3.6 and AMT102 encoders with 48V drawn from a PDB. The configuration file is attached below but its the standard odrivetool configuration. Any help would be greatly appreciated.
Hi! Sounds like your encoder shaft is slipping, that’s a pretty common cause to that issue. I’d go check he mounting.
We tried taking off the motor completely from the mount and running it alone with the encoder and still had the same issue. Do you think there’s a possibility its an encoder or configuration issue or if the motor itself is broken? So far all our testing is pointing towards the motor itself being broken, but we’re not sure how 4/6 of them are all like that.
Hm. You say “heating up the wires” – could you post a picture of the wiring?
Are you using index search or recalibrating each time?
Sorry I don’t have the clearest photo, but its the wires that attach the motor to the odrive thats heating up, for some of our previous tests the 5A fuse connecting the PDB to the odrive would blow out. Im recalibrating each time
Hmm. Are you calibrating with the wheels on the ground, or free spinning?
free spinning, for our later tests we took off the wheels