Power supply in security mode when forcing on the motor

Support
1

Hello,
I am using an Odrive board for an internship project, this is my setup:

  • Odrive is v3.6 (56V)
  • Motor is TSDZ2 Tong Sheng (Hall encoder included)
  • Brake resistor is 3.3 Ohm
    It will be used for arm rehabilitation purposes. The motor is connected to pedals and the user may force in the opposite direction of rotation or in the same. For now I am working in velocity control mode.
    When someone forces against it (even until stopping it), there is no problem.
    However, when forcing to make it turn faster, when the Ibus drops to 0A, the power source shuts down. There is not any overvoltage (nor undervoltage) on the DC bus before the power source shuts down (or at least nothing can be seen on the liveplotter). The brake resistor is enabled. It is a 500W 3.3 Ohm resistor. Is there any way to prevent that from happening ?
    Thank you for your time.
2

Hi! May be power supply shutdown because of overcurrent protection?

3

Thanks for your answer @Kamerrer !
Indeed, when I set I_bus_hard_min to -0.3 it protects the power supply if I force gently. However it does not work if I force more fiercely or during more time.
I would like to be able to protect the power supply no matter how much force I am putting on the pedals (well the force is not infinite since it is arms produced).
Do you have an idea how I could do ? Could modifying the gains work ?

1 Like
4

Could you post your list of parameters and value that you configure in odrivetool? I guess that you miss something or use wrong parameters) As I understand your correct working logic should be like this: you power up your ODrive with psu and all regen current that occurs when motor will brake should go to brake resistor to prevent powersuply from damaging. Am I right?

1 Like
5

Thank you for your help, here are my parameters and values. Tell me if you need something else.

acim_estimator:
  config: ...
  phase_offset: 0.0 (float)
  rotor_flux: 0.0 (float)
  slip_vel: 0.0 (float)
  stator_phase: 1.619760513305664 (float)
  stator_phase_vel: 426.7330017089844 (float)
config:
  calibration_lockin: ...
  can: ...
  dir_gpio_pin: 2 (uint16)
  enable_sensorless_mode: False (bool)
  enable_step_dir: False (bool)
  enable_watchdog: False (bool)
  general_lockin: ...
  sensorless_ramp: ...
  startup_closed_loop_control: False (bool)
  startup_encoder_index_search: False (bool)
  startup_encoder_offset_calibration: False (bool)
  startup_homing: False (bool)
  startup_motor_calibration: False (bool)
  step_dir_always_on: False (bool)
  step_gpio_pin: 1 (uint16)
  watchdog_timeout: 0.0 (float)
controller:
  anticogging_valid: False (bool)
  autotuning: ...
  autotuning_phase: 0.0 (float)
  config: ...
  electrical_power: 2.456660032272339 (float)
  error: 0 (uint8)
  input_pos: 0.04114590212702751 (float)
  input_torque: 0.0 (float)
  input_vel: -8.5 (float)
  last_error_time: 0.0 (float)
  mechanical_power: 5.851099014282227 (float)
  move_incremental(obj: object_ref, displacement: float, from_input_pos: bool)
  pos_setpoint: 0.04114590212702751 (float)
  start_anticogging_calibration(obj: object_ref)
  torque_setpoint: 0.0 (float)
  trajectory_done: True (bool)
  vel_integrator_torque: -0.11262267827987671 (float)
  vel_setpoint: -8.5 (float)
current_state: 8 (uint8)
encoder:
  calib_scan_response: 0.0 (float)
  config: ...
  count_in_cpr: 29 (int32)
  delta_pos_cpr_counts: -0.06321437656879425 (float)
  error: 0 (uint16)
  hall_state: 4 (uint8)
  index_found: False (bool)
  interpolation: 0.28031229972839355 (float)
  is_ready: True (bool)
  phase: 1.3610687255859375 (float)
  pos_abs: 0 (int32)
  pos_circular: 0.533474326133728 (float)
  pos_cpr_counts: 25.198163986206055 (float)
  pos_estimate: -552.4834594726562 (float)
  pos_estimate_counts: -26519.61328125 (float)
  set_linear_count(obj: object_ref, count: int32)
  shadow_count: -26521 (int32)
  spi_error_rate: 0.0 (float)
  vel_estimate: -8.541666984558105 (float)
  vel_estimate_counts: -410.0 (float)
error: 0 (uint32)
is_homed: False (bool)
last_drv_fault: 0 (uint32)
max_endstop:
  config: ...
  endstop_state: False (bool)
mechanical_brake:
  config: ...
  engage(obj: object_ref)
  release(obj: object_ref)
min_endstop:
  config: ...
  endstop_state: False (bool)
motor:
  DC_calib_phA: 1.2644273042678833 (float)
  DC_calib_phB: -0.48575085401535034 (float)
  DC_calib_phC: -0.7785403728485107 (float)
  I_bus: 0.05784515663981438 (float)
  config: ...
  current_control: ...
  current_meas_phA: -0.23939263820648193 (float)
  current_meas_phB: -0.3178805410861969 (float)
  current_meas_phC: 0.4565104842185974 (float)
  effective_current_lim: 7.0 (float)
  error: 0 (uint64)
  fet_thermistor: ...
  is_armed: True (bool)
  is_calibrated: True (bool)
  last_error_time: 0.0 (float)
  max_allowed_current: 30.375 (float)
  max_dc_calib: 3.0375001430511475 (float)
  motor_thermistor: ...
  n_evt_current_measurement: 2002129 (uint32)
  n_evt_pwm_update: 2002137 (uint32)
  phase_current_rev_gain: 0.012500000186264515 (float)
requested_state: 0 (uint8)
sensorless_estimator:
  config: ...
  error: 0 (uint8)
  phase: -1.9241141080856323 (float)
  phase_vel: 424.8955383300781 (float)
  pll_pos: -1.0634453296661377 (float)
  vel_estimate: 8.501914024353027 (float)
step_dir_active: False (bool)
steps: 42 (int64)
task_times:
  acim_estimator_update: ...
  can_heartbeat: ...
  controller_update: ...
  current_controller_update: ...
  current_sense: ...
  dc_calib: ...
  encoder_update: ...
  endstop_update: ...
  motor_update: ...
  open_loop_controller_update: ...
  pwm_update: ...
  sensorless_estimator_update: ...
  thermistor_update: ...
trap_traj:
  config: ...
watchdog_feed(obj: object_ref)

What I want to do is forcing in the same direction (brake) as the velocity or in the opposite direction. I am in velocity control mode. I have no problem when forcing in the opposite direction (brake), my problem is when forcing in the same direction. If I am forcing too much or too long, the power supply shuts down. Is it a little clearer ?

6

Try to set this properties:

max_regen_current = 0
dc_max_negative_current = -INFINITY
I_bus_hard_min = -INFINITY
1 Like
7

Hi !
I’ve just tested it and it didn’t work. Moreover, I don’t understand why putting dc_max_negative_current = -INFINITY would help me since my problem is that there is negative current going to the power supply…

8

Hi !
I am still stuck on the same issue, would someone have an idea to help me ?
To summarize, how can I protect my power supply from negative currents when accelerating the motor by physically forcing on it, in velocity control ?

Thank you very much

9

You are correct, dc_max_negative_current should not be -INFINITY for what you’re trying to achieve. Can you confirm the psu is shutting down with the default value (or lower) of dc_max_negative_current = -0.01?
While in closed loop control can you verify that <odrv>.brake_resistor_armed is True?
Also, could you please share your config from the <odrv> object, specifically the parts that pertain to the brake resistor?

10

Thank you for your interest in my issue.
I’ve just checked dc_max_negative_current is -0.01 and brake_resistor_armed is True during the entire closed loop control and the psu is shutting down.
I’ve noticed that from as soon as i run my script brake_resistor_saturated is True, is that normal ?
Also, here are the brake_resistor_current just before the psu is shutting down:

0.0
0.06863147020339966
0.07906229048967361
0.14503176510334015
0.1937473565340042
0.23900607228279114
0.26492369174957275
0.24485796689987183
0.3198602795600891
0.25840944051742554
0.2562006115913391
0.23144547641277313
0.1891786903142929
0.1548852175474167
0.15860699117183685
0.17121414840221405
0.11528303474187851
0.033284857869148254
0.0

And here is the config of my <odrv> object, tell me if you need something else !

brake_resistance: 3.299999952316284 (float)
dc_bus_overvoltage_ramp_end: 48.349998474121094 (float)
dc_bus_overvoltage_ramp_start: 48.20000076293945 (float)
dc_bus_overvoltage_trip_level: 59.92000198364258 (float)
dc_bus_undervoltage_trip_level: 8.0 (float)
dc_max_negative_current: -0.009999999776482582 (float)
dc_max_positive_current: inf (float)
enable_brake_resistor: True (bool)
enable_can_a: True (bool)
enable_dc_bus_overvoltage_ramp: True (bool)
enable_i2c_a: False (bool)
enable_uart_a: True (bool)
enable_uart_b: False (bool)
enable_uart_c: False (bool)
error_gpio_pin: 0 (uint32)
gpio10_mode: 0 (uint8)
gpio11_mode: 0 (uint8)
gpio12_mode: 12 (uint8)
gpio13_mode: 12 (uint8)
gpio14_mode: 2 (uint8)
gpio15_mode: 7 (uint8)
gpio16_mode: 7 (uint8)
gpio1_mode: 4 (uint8)
gpio1_pwm_mapping:
  endpoint: None (object_ref)
  max: 0.0 (float)
  min: 0.0 (float)
gpio2_mode: 4 (uint8)
gpio2_pwm_mapping:
  endpoint: None (object_ref)
  max: 0.0 (float)
  min: 0.0 (float)
gpio3_analog_mapping:
  endpoint: None (object_ref)
  max: 0.0 (float)
  min: 0.0 (float)
gpio3_mode: 3 (uint8)
gpio3_pwm_mapping:
  endpoint: None (object_ref)
  max: 0.0 (float)
  min: 0.0 (float)
gpio4_analog_mapping:
  endpoint: None (object_ref)
  max: 0.0 (float)
  min: 0.0 (float)
gpio4_mode: 3 (uint8)
gpio4_pwm_mapping:
  endpoint: None (object_ref)
  max: 0.0 (float)
  min: 0.0 (float)
gpio5_mode: 3 (uint8)
gpio6_mode: 0 (uint8)
gpio7_mode: 0 (uint8)
gpio8_mode: 0 (uint8)
gpio9_mode: 0 (uint8)
max_regen_current: 0.0 (float)
uart0_protocol: 3 (uint8)
uart1_protocol: 3 (uint8)
uart2_protocol: 3 (uint8)
uart_a_baudrate: 115200 (uint32)
uart_b_baudrate: 115200 (uint32)
uart_c_baudrate: 115200 (uint32)
usb_cdc_protocol: 3 (uint8)
11

Hi @Nicholas_Schneider,
I still need help on this issue, do you have an idea ?

Thank you !