Odrive GUI overriding current limits

[mbmcewen]

why is Odrive GUI overriding my current_soft_max?

When I am controlling motor from inspector, I can key in 45a as a soft max. And I get the associated torque from that value.

But when I save the configuration and operate the motor using the the custom controller we developed, Odrive GUI caps the current at 20a and my torque suffers.

Im assuming I have another setting in place that is causing the override but I’m at a loss on what that could be.

Please help. Thank you

[solomondg]

Sorry, I’m having some difficulty following exactly what the issue is / you’re trying to do here? My understanding is:

• In the inspector tab, you set current_soft_max to 45A
• In the inspector tab, you put the ODrive into some operating mode (pos/vel/torque control - which are you using?), and when commanding setpoints, you see the ODrive outputting up to the full 45A max (via monitoring Iq_measured? Iq_setpoint?)
• Then you command the ODrive via your “custom controller” – I’m assuming this is some sort of external microcontroller controlling the ODrive over CAN or UART?
• Then, when commanding the ODrive externally, you’re only seeing a maximum current of about 20A (via monitoring Iq_measured? Iq_setpoint?)

Some questions:

• Do you see the current_soft_max value actually changing or resetting to 20A?
• What control mode and input mode are you using?
• How is the custom controller commanding the ODrive?
• What motor, encoder, and power supply are you using?

If you’re able to send some screenshots of your configuration in the GUI, and maybe some videos showing the issue you’re having, that would help a lot! The more information you can give, the better.

[mbmcewen]

Hello Solomon. Thank you for your attention. I believe I gotten a little closer to the truth. Its actually a power cycle that causes the current limit to revert. It doesnt have anything to do with my CAN micro controller

But yes you are correct in your understanding. I set the current limit to 45 amps. Save configuration. Go to position control to visually observe the current draw which is 45a and plenty of torque.

Save once again(or not), cycle power and reconnect and in inspector I see that the soft has auto-adjusted to 20amps. I go i to position control to once again get a visual and it is indeed drawing 20amps

I am trap_traj input mode and position control control mode with CAN bus microcontroller

The motor is a 5065bldc, power supply is 24vdc 1000w, AMT212B-v-od encoder

[mbmcewen]