Odrive power supply for two d6374 motors

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1

I have the Odrive v3.6 56V connected with one odrive d6364motor and amt102-v encoder.
the power supply that i’m using at the moment is 30V and 5A.
using these parts, i can calibrate correctly the motor using the command:
odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
i can hear the beep motor sound and it turns one round in both directions.
after that, i’m trying to run 50 turns with these commands:

 odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis0.controller.input_pos = 50.0

but it only rotates one time and fail.
the dump.errors return me that:

system: Error(s):
  LegacyODriveError.DC_BUS_OVER_REGEN_CURRENT
axis0
  axis: Error(s):
    AxisError.MOTOR_FAILED
  motor: Error(s):
    MotorError.SYSTEM_LEVEL
  DRV fault: none
  sensorless_estimator: no error
  encoder: no error
  controller: no error
axis1
  axis: Error(s):
    AxisError.MOTOR_FAILED
  motor: Error(s):
    MotorError.SYSTEM_LEVEL
  DRV fault: none
  sensorless_estimator: no error
  encoder: no error
  controller: no error

I suppose that i’m having problems with the power supply. that’s why i’m asking which kind of power supply will work with two d6374? i want to have high speed to create adiabatic movement (3000-5700) and high torque to move 10kg

2

My first concern is how fast the ODrive is going to try and accomplish 50 turns, using the default PASSTHROUGH input mode is not great for position changes greater than ~1 turn. I would strongly suggest using trajectory control, or streaming positions with filtered position control.

What is the application here? What are the units for

RPM? I’m afraid I don’t fully understand adiabatic movement in this context, as high speed + high torque is going to produce a lot of heat.

I agree that 5A at 30V is probably not enough, but I would need more info to give any more advice.

3

Thanks for your quick response.
Sorry for my bad explanation, I want to create a traction and twisting machine to rotate a material while is being stretched.
the material is a flexible material. For the stretch part, I only need to use a reducer to get the force i want, but on the twist, i need high velocity. Basically i need to do 50 turns/s and i need the torque to rotate the material these 50 turns.
At the moment i’m using a 30V 5A power supply and with the odrivetool i can’t rotate my motor these 50 turns/s, or maybe i’m not using the correct params and commands.
As you mentioned, i will try the trajectory control to see if i can move my motor as I want. On the other hand, i’m having a look on to a power supply 48V 30A. it’s a little bit expensive but will it work?
thanks,