What setting for the engine D6374 with Encoder AMT 102?

1

Hello,

ich have the following setup:

engine: DUAL SHAFT MOTOR - D6374 150KV

encoder: CUI AMT102 capacitive encoder

power supply: MW RSP-2000-48
( Performance = 2016 W
Voltage = 48 V
Current = 42
Input voltage = 90 - 264 VAC
Input voltage = 127 - 370 VDC
Efficiency = 92 %
Making current = 50 A
Ripple = 300 mV)

My problem is that the engine stops and gets the error message ERROR_OVERSPEED = 0x01 after some time of operation?
I think the motor draws too much amperes but i don´t know why.
The command “odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE” works fine.

odrv0.axis0.motor.config

pre_calibrated = True (bool)
pole_pairs = 7 (int)
calibration_current = 10.0 (float)
resistance_calib_max_voltage = 10.0 (float)
phase_inductance = 2.85157e-05 (float)
phase_resistance = 0.102618 (float)
direction = -1 (int)
motor_type = 0 (int)
current_lim = 40.0 (float)
current_lim_tolerrance = 1.25 (float)
inverter_temp_limit_lower = 100.0 (float)
inverter_temp_limit_upper = 120.0 (float)
requested_current_range = 40.0 (float)
current_control_bandwidth = 1000.0 (float)

I would be happy if I got an answer.

best regards
Tim

2

Have you tried increasing the velocity limit?

1 Like
3

Thank you for your answer. I have the speed at 200000 counts / s.
Is it correct that the vel_limit calculates RPM / 60 s * Encodersteps / Round. In my case that would be 4500 (R / min) / 60 (s) * 8192 (counts / R) = 614400 (counts / s). I could set the maximum vel_limit to 614400 (counts/s)?

Best regards
Tim

4

Here is a picture of the liveplotter. After a few revolutions the motor current increases and the motor stops

image
image1600×900 114 KB

5

Assuming the motor isn’t mechanically seizing, this looks a lot like commutation failure at high speed. It’s possible that you have reached the velocity limit of the encoder, or the commutation rate limit of the ODrive.

But given that you are using the stock motor and encoder which are well tested, I doubt it… :thinking:

Given the power involved I have to ask: Where’s the smoke coming from?
Which components are hot? The motor or the ODrive?

Do you find that you have to recalibrate the encoder (i.e. ENCODER_OFFSET_CALIBRATION or FULL_CALIBRATION_SEQUENCE) before you can run the motor again after this failure?
If so, it could be that the encoder is slipping on the shaft. Just a few degrees would be enough to cause this.

1 Like
6

[SOLVED]

@towen Thank you very much for your help. The fault was the shaft from the motor was not vertical. This caused the shaft to rub against the encoder and the encoder heated up to 70 ° C.
I think odrive has an automatic drain if the components get too hot.

1 Like