Using Odrive with T - Motor RI150

Support
1

Hello there. I am looking for some assistance with the parameters used for my current setup. I have the 54V version of the odrive currently hooked up to a T-Motor RI 150. I am using the AMT 102-V. I went through the startup procedure and successfully calibrated my motor however when i put the motor into closed loop control it go so hot that it melted the 3D printed enclosure without any load (<230 C). These are the parameters of my motor.

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My question is am i correct in using the following motor parameters:
odrv0.axis0.motor.config.current_limit = 15
odrv0.axis0.motor.config.calibration_current = 5
odrv0.axis0.motor.config.motor_type = MOTOR_TYPE_HIGH_CURRENT
odrv0.axis0.motor.config.resistance_calib_max_voltage = 10 taking into account the my v_bus is 30V

If these are correct my only other reasoning for the over heating was that the motor was shuddering and needed to be tuned.

2

Encoder misalignment can cause that, but a pos_gain or vel_gain that’s too high is also possible.

3

Hi Wetmelon. Main question was is my motor parameters correct, in particular the motor_type ?

Thank you very much for your guidance.

4

Yes, seems reasonable