Positioning after start

Support
1

Hi all
is there a startup command in the Odrive that makes an actuator moving automatically to a certain (start-) position between the retracted and extracted actuator-position; and then makes this position to zero?
As I dont have endstops and the homing function anymore I have to find a way to make it like described in order to be able to use a different interface software (mover interface from the Xsimulator board)

Wickie

2

Hi

If you set an offset, the actuator will home, set pos to 0, move to offset value, set pos to 0 again and you’re ready to go.

Cheers

Carelsbergh Stijn

3

Hi @Stijn_Carelsbergh!

Thank you for your answer! What you said seems not to be so difficult, but in detail I dont understand it - sorry. Could you pls. help me again?

  1. “If you set an offset”…which command can set an offset?
  2. “the actuator will home”…?? I thought homing is only part of the endstop firmware? I currently have only the main branch firmware?
  3. “move to offset value” …do you mean with the pos_setpoint??
  4. “set pos to 0 again”…which command can do this?

I am sorry for not understanding anything!!!

Wickie

4

Hi

I’m using the endstop firmware, van you tell me what’s not working with yours, I had a lot off problems too and fixed them all so maybe I know what’s wrong.

Here are my settings:

15767978414906349760347867595260
15767978414906349760347867595260.jpg3000×4000 3.1 MB

Cheers

Carelsbergh Stijn

5

Hi Stijn,
Super, thanks!
I will give the endstop fimware a second chance this weekend because I think some of the problems I had came from my too weak PSU.
Do you use the Zennix firmware?

6

Hello Stijn
and @Wetmelon for info…

Because I suspected my power supply to be a problem with the endstop firmware, I bought 3 car batteries, which I can connect in series to get 36V.
With this power supply I made many attempts the last 2 days…and I am almost going crazy.

  1. Odrive main-branch-firmware:
    Test with 36V - power supply: runs smoothly without problems, but has no endstops and therefore I cant use it with the interface software.
    => currently no solution

  2. Old Endstop firmware from Sept. 2018:
    Tests with 12V from car battery: Starts clean, makes a clean homing but GPIO pin5 (the upper endstop for me) does not work.

Super strange!: Test with 24V from car battery - no changes on the simulator, wiring or parameters - only change from 12V to 24V: Result: The endstops are not recognized anymore. No Homing .
=> No solution

  1. Back to the current RazorsEdge:
    Test with 12V and 24V: Start and homing without problems!..BUT: at one of the two actuators the endstops are no longer working. The signals are not recognized, although I measured the input signals directly at the Odrive input.
    => No solution

So…what now???

I think I have to wait until the Endstops are integrated in the main branch firmware and tested by Wetmelon…

Maybe you could send me your firmware as a *.elf file? and the matching configuration file ? For a last tryal…

Thanks a lot!
regards Wickie

7

Hi

Are you just trying to home or are you running the command to see if the switches are recognized?

Cheers

Carelsbergh Stijn

8

The homing is part of my startup procedure. I measured that the switches are working correctly direct on the GPIO, but not with help of a command…

9

Hi

Try it with the command to be sure, also try with an external pullup or pulldown resistor. I had problems with this too, it just would not home and then I found out that the switches we’re just not being read.

Let me know when you’ve tried

Cheers

Carelsbergh Stijn