Odrive + Hoverboard Motors AXIS0 errors

Support
1

Hi

My setup is Odrive + two hoverboard motors + 12/36 V battery.

Motors are calibrated according to hoverboard motors guide and everything looks fine. So I setup PWM control with velosity range ±200 and connect my autopilot. It works fine just 30 seconds )))
I constantly had hall encoder error so I solder 22nF capacitors and set ignore hall erros in config.
Next try - and after 1 min I get axis errors ERROR_CURRENT_MEASUREMENT_TIMEOUT. If i reset this error - next eror in 30sec - 4 mins.
What does mean this error? I checked thru code but doesnt get cleary what does it means.
Looks like control loop not worked fine - missing intterupts but why ? Worst thing - its happens only on Axis 0 and only then both motors are running.
I’ve got two ODRIVE - 3.5 and 3.6 version and both have same issues so its not HW fault i suppose.

Cheers

2

I wrote python test script to reproduce issue :

import time

import odrive
import random

motor_error_to_str = {
0: ‘ERROR_NONE’,
1: ‘ERROR_PHASE_RESISTANCE_OUT_OF_RANGE’,
2: ‘ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE’,
4: ‘ERROR_ADC_FAILED’,
8: ‘ERROR_DRV_FAULT’,
16: ‘ERROR_CONTROL_DEADLINE_MISSED’,
32: ‘ERROR_NOT_IMPLEMENTED_MOTOR_TYPE’
}

axis_error_to_str = {
0: ‘ERROR_NONE’,
1: ‘ERROR_INVALID_STATE’,
2: ‘ERROR_DC_BUS_UNDER_VOLTAGE’,
4: ‘ERROR_DC_BUS_OVER_VOLTAGE’,
8: ‘ERROR_CURRENT_MEASUREMENT_TIMEOUT’,
16: ‘ERROR_BRAKE_RESISTOR_DISARMED’,
32: ‘ERROR_MOTOR_DISARMED’
}

odrv0 = odrive.find_any()

odrv0.axis0.motor.error = 0
odrv0.axis0.error = 0
odrv0.axis0.requested_state = 8

odrv0.axis1.motor.error = 0
odrv0.axis1.error = 0
odrv0.axis1.requested_state = 8

while True:

vel_val = random.randint(-200, 200)
vel_delay = 10 * random.random()

print("Axis0 Vel delay %f s, vel_val = %d" % (vel_delay, vel_val))

odrv0.axis0.controller.vel_setpoint = vel_val

motor_error = odrv0.axis0.motor.error
axis_error = odrv0.axis0.error

if motor_error != 0 | axis_error != 0:
    axis_error_str = axis_error_to_str[axis_error]
    motor_error_str = motor_error_to_str[motor_error]
    print("Motor 0 error : %d (%s), Axis 0 error : %d(%s)" % (motor_error, motor_error_str, axis_error, axis_error_str))
#      odrv0.axis0.motor.error = 0
#      odrv0.axis0.error = 0
#      odrv0.axis0.requested_state = 8

time.sleep(vel_delay)

vel_val = random.randint(-200, 200)
vel_delay = 10 * random.random()

print("Axis1 Vel delay %f s, vel_val = %d" % (vel_delay, vel_val))

odrv0.axis1.controller.vel_setpoint = vel_val
time.sleep(vel_delay)

motor_error = odrv0.axis1.motor.error
axis_error = odrv0.axis1.error

if motor_error != 0 | axis_error != 0:
    axis_error_str = axis_error_to_str[axis_error]
    motor_error_str = motor_error_to_str[motor_error]
    print("Motor 1 error : %d (%s), Axis 1 error : %d(%s)" % (motor_error, motor_error_str, axis_error, axis_error_str))

I ve restart script 5 times and get this values before error :

Axis0 Vel delay 4.124869 s, vel_val = -118
Axis1 Vel delay 6.500733 s, vel_val = -136
Axis0 Vel delay 0.349871 s, vel_val = 142
Motor 0 error : 16 (ERROR_CONTROL_DEADLINE_MISSED), Axis 0 error : 32(ERROR_MOTOR_DISARMED)

Axis0 Vel delay 2.659829 s, vel_val = -177
Axis1 Vel delay 4.007129 s, vel_val = -136
Axis0 Vel delay 7.294514 s, vel_val = -99
Motor 0 error : 16 (ERROR_CONTROL_DEADLINE_MISSED), Axis 0 error : 32(ERROR_MOTOR_DISARMED)

Axis0 Vel delay 3.220356 s, vel_val = -74
Axis1 Vel delay 3.745444 s, vel_val = 172
Axis0 Vel delay 2.452145 s, vel_val = 127
Motor 0 error : 16 (ERROR_CONTROL_DEADLINE_MISSED), Axis 0 error : 32(ERROR_MOTOR_DISARMED)

Axis1 Vel delay 3.714755 s, vel_val = -172
Axis0 Vel delay 3.270711 s, vel_val = -110
Motor 0 error : 16 (ERROR_CONTROL_DEADLINE_MISSED), Axis 0 error : 32(ERROR_MOTOR_DISARMED)

3

Please try dump_errors(odrv0) and paste the result here

4

Well dump shows same axis error - 0x32, motor error 0x48 or 0x58.
But I think I found the problem. I’ve read ODRIVE code again very carefully and I think issue was because calibration was at too low current. After this conclusion I read config guide again and found same info - " You can change odrv0.axis0.motor.config.calibration_current [A] to the largest value you feel comfortable leaving running through the motor continuously when the motor is stationary."
Unfortunately this info was riiight AFTER guide line - “There is a separate guide specifically for hoverboard motors.” so I missed this info. My wheels are 10 inches and in video they are 6.5 inches. So I thought - hmmm may be my hover wheels just bigger and need more power to rotate.
So i set calibration current to 5 and recalibrate motor & encoders.
I still get errors after this procedure but much more rarely. So I increase calibration current slowly till errors gone.
P.S. Also I desolder capacitors use ferrite ring and disable hall errors. Not quite sure is this helps or not

2 Likes
5

Check whether the ERROR MOTOR DISARMED script is still showing after you import the odrive and if there are no errors in the script then restart it and run the script again. For more details about the motor you can have a visit at Servo drives repair .Thanks.