Hi,
I am using an ODrive S1, firmware 0.6.8, with the AMT21 encoder.
I am trying to drive a constant torque with both a Nanotech DF45L024048-A2 (quite low torque constant) and a T-Motor GB36-2 gimbal motor (very high torque constant). I am holding both motors stationary in a torque meter, so they can’t really turn more than a few degrees of “backlash” in the meter on startup. I pulse a set torque for a second, then let the motor cooldown, as I am driving it quite hard.
For the Nanotech motor, I have set it as a “high current” motor, and for the T-Motor, I have set it as a “gimbal” type motor in the GUI.
I have let the motor spin freely when calibrating through the gui, and both motors have passed calibration OK.
When I drive the Nanotech, the torque follows the setpoint correctly and I get no errors, however when I drive the T-Motor, the torque “caps out” for a few hundred ms before the driver enters the error state, with axis0.disarm_reason being given as INITIALIZING
I suspect my power supply might be a little low at 30V, as the phase resistance of this motor is 16.4R? Would this cause the ODrive to produce this INITIALIZING error code? It doesn’t seem too helpful an error code, but I can’t see a “can’t regulate desired current” equivalent that could be given instead, so maybe INITIALIZING is the default error?
Hey Cosmogramma,
Hm, I don’t think INITIALIZING should be the error being thrown here, that’s good to know. Couple questions:
Does the ODrive’s LED flash orange once the error is thrown?
What current limit does your power supply have?
What torques do you see this issue with the Tmotor happening? Is it only at high torques, or any and all torque setpoints? If the former, what setpoints are you seeing this happen at?
Hi Solomon,
Thanks for getting back to me so quickly! Answers below:
Does the ODrive’s LED flash orange once the error is thrown?
Yes, and it no longer follows torque commands until I clear the error.
What current limit does your power supply have?
It has a 10A limit. If I had hit the current limit, I’d expect to see an undervoltage error as the supply folds back the voltage?
What torques do you see this issue with the Tmotor happening? Is it only at high torques, or any and all torque setpoints? If the former, what setpoints are you seeing this happen at?
Only at high torque setpoints, above 0.3Nm. Where the graph levels out.
Ah I see. Orange LED means the ODrive restarted (the orange LED is displayed as part of the boot process). I’d agree that I’d expect to see an undervoltage issue. There could be an internal issue in the firmware, but I’ve never seen something like that.
Can you please try running this script: ODrive test script - Pastebin.com
It’ll command 0.4Nm of torque while logging some relevant variables. Everything will be written to data_outfile.pkl, which I’d appreciate if you could upload somewhere and share with me once you run it
Hi,
Thank you! The code ran OK, output is here (base64 encoded). Sorry for the length, but I don’t have permissions for attachments yet.
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Oh, and that script results in the same error in the GUI, here:
I love the base64
vbus looks steady
So it looks like we’re going to about -0.7 modq and hitting modulation limits, okay.
That fall of vq at the end that’s not reflected in the modulation index has me a bit suspicious
I’m going to ping our firmware guy and see if there’s more info we could use for diagnostics - this is definitely seeming like some sort of hard fault. Thanks for all your help in diagnosing this!
Samuel
November 3, 2023, 1:39pm
8
Yeah that looks like a low level firmware fault. @cosmogramma can you run dump_errors(odrv0) in odrivetool after the ODrive fails in this way?issues list with a bunch of numbers that would help us pinpoint the issue.
Adding odrive.utils.dump_errors(odrv) to the end of the script given, I get this, which shows no internal issues
axis0
active_errors: no error
disarm_reason: Error(s):
ODriveError.INITIALIZING
procedure_result: ProcedureResult.DISARMED
last_drv_fault: none
internal issues: none
Hi! Thank you for the info! This is a pretty weird issue - let me send you a dm.
