Problem with motor stops rotate

1

hello everyone,
I don’t know what is the problem with the motor. sometimes I have to move the motor vertical so can rotates but not always. Any ideas why? cable conexion ?

  • Motor ODrive D5065 270KV
  • ODrive Motor controller board V3.6
  • ODrive power resistor 50W
  • Encoder CUI AMT 102-V 4420


#restore the motherboard default parameters
odrv0.erase_configuration()


#1 config dissipation resistor
odrv0.config.brake_resistance = 2.0

#2 config low voltage portection threshold
odrv0.config.dc_bus_undervoltage_trip_level= 8.0

#3 config overvoltage protection threshold
odrv0.config.dc_bus_overvoltage_trip_level= 56.0

#4 config overcurrent protection threshold
odrv0.config.dc_max_positive_current = 20.0

#5 config the reverse overcurrent protection threshold
odrv0.config.dc_max_negative_current =-1.0

#6 config the recharge current value
odrv0.config.max_regen_current =0

#7 save config parameters

odrv0.save_configuration()






#Part2: motor parameter configuration

#1 config the number of motor pole pairs
odrv0.axis0.motor.config.pole_pairs=7

#2 config the current when the motor is calibrated
odrv0.axis0.motor.config.calibration_current =5

#3 config the voltage when the motor is calibrated
odrv0.axis0.motor.config.resistance_calib_max_voltage= 2

#4 config motor type
odrv0.axis0.motor.config.motor_type=MOTOR_TYPE_HIGH_CURRENT

#5 Config the maximum current limit for motor operation
odrv0.axis0.motor.config.current_lim = 10 # [A]

#6 config the motor current sampling range
odrv0.axis0.motor.config.requested_current_range = 20

#******************************************************
odrv0.axis0.motor.config.current_control_bandwidth = 2000
odrv0.axis0.motor.config.torque_constant = 8.27 / 270
odrv0.axis0.motor.config.torque_lim= 1.3
#******************************************************


#7 save config parameters
odrv0.save_configuration()


# part 3
#encoder parameter config

#1 config encoder type
odrv0.axis0.encoder.config.mode= ENCODER_MODE_INCREMENTAL


#2 Config encoder resolution
odrv0.axis0.encoder.config.cpr =8192
odrv0.axis0.encoder.config.enable_phase_interpolation = True

#3 config encoding bandwith
odrv0.axis0.encoder.config.bandwidth=3000

#4 motor running current when configuring encoder calibration
odrv0.axis0.config.calibration_lockin.current =3

#5 config the current rise time during encoder calibration
odrv0.axis0.config.calibration_lockin.ramp_time = 0.4

#6 config the motor rotation distance when the current rises
odrv0.axis0.config.calibration_lockin.ramp_distance = 3.1415927410125732
#7 motor acceletation when configuring encoder calibration
odrv0.axis0.config.calibration_lockin.accel=20

#8 motor speed when configuring encoder calibration
odrv0.axis0.config.calibration_lockin.vel=40

#9 save config parameters
odrv0.save_configuration()



#PART 4 
#1 config control mode
odrv0.axis0.controller.config.control_mode= CONTROL_MODE_POSITION_CONTROL

#2 config the maximum speed of the motor
odrv0.axis0.controller.config.vel_limit=5

#3 config position loop gain
odrv0.axis0.controller.config.pos_gain =30

#4 config speed loop gain
odrv0.axis0.controller.config.vel_gain = 0.2
odrv0.axis0.controller.config.vel_integrator_gain = 0.5 * 10 * 0.2


#5 config input mode
odrv0.axis0.controller.config.input_mode= INPUT_MODE_TRAP_TRAJ

#6 Config the motor speed in trapezoidal mode
odrv0.axis0.trap_traj.config.vel_limit =30

#7 config the motor acceleration/deceleration in trapezoidal 
odrv0.axis0.trap_traj.config.accel_limit =5
odrv0.axis0.trap_traj.config.decel_limit =5

#8 save the config 
odrv0.save_configuration()

odrv0.reboot()



#-----------------------------------
#CALIBRATION
odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE


odrv0.save_configuration()

#odrv0.reboot()
#odrv0.clear_errors()
#dump_errors(odrv0)
odrv0.axis0.motor.config
#-------------------------------------------------

#odrv0.axis0.controller.config.input_mode = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis0.requested_state =AXIS_STATE_CLOSED_LOOP_CONTROL

odrv0.axis0.controller.input_pos =50

odrv0.axis0.controller.input_pos =0

This is the error i get
system: no error
axis0
axis: no error
motor: Error(s):
MOTOR_ERROR_UNKNOWN_TORQUE
MOTOR_ERROR_UNKNOWN_VOLTAGE_COMMAND
sensorless_estimator: no error
encoder: Error(s):
ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH
controller: Error(s):
CONTROLLER_ERROR_OVERSPEED
axis1
axis: no error
motor: no error
sensorless_estimator: no error
encoder: no error
controller: no error

2

Doesn’t really make sense that you have both CPR_POLEPAIRS and OVERSPEED errors… is that at different times?

3

Yes, it’s at the same time. The wierd thing is that not always make the mistake. And about the problem that stops I think is because of the enclosure. Do you recommend another support to hold the motor?

4

Please check that the encoder is firmly mounted on the shaft. You need to press the plastic pieces together with “tool B” pretty hard so it grips firmly.

5

I found the problem. The screw were missing. What type of screw do i need?

tapa
tapa489×519 27.5 KB

6

Those are M4 screws.