Hello all,
I am using an odrive pro and an m8325s motor for my senior project in college. I am trying to run a test that requires about 40 amps to the motor, but the driver seems to be limited to 20 amps in the GUI torque control mode. I can get more current in the position control and the velocity control modes, but not in the torque control mode. I have tried changing the current limits, and this hasn’t helped. Any help would be appreciated.
Thank you!
Hi! Note that in torque control mode, with torque mode velocity limit enabled, the ODrive uses vel_gain to derate the torque versus speed. With high torque motors, this can cause a torque limit even at standstill – see here for more information: Controller — ODrive Documentation 0.6.11 documentation
I’d recommend either tuning your vel_gain, or disabling enable_torque_mode_vel_limit – note that the latter can have safety considerations (as it removes the ODrive’s ability to limit the speed of your motor), so I’d strongly recommend just tuning your vel_gain.