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mechanical motor interference may be causing too much torque, generating high currents
Testing result(May 22):
Environment setup:
3 odrive and 6 motor + gearset
all the direction will be described in left and right relative to when a person is facing the skeleton board
Test 1:
Request the right most odrive to turn the right middle motor at speed 10 and 20
Result: both working as expected and are providing strong torque when trying to stop the turning
Test 2:
middle odrive and right last motor
Sent command for full axis calibration, calibration was completed, but when it was turning in reverse direction, observed motor was turning with difficulty. Decided to proceed with velocity testing at 10
7.5 A fuse, sent 3 closed loop control. First time the motor turned, then stopped, 2nd and 3rd did not turn motor locked in. Would twitch but not turn.
7.5 A fuse did not blow but wires are significantly heating, cause safety concern. Powered off after smelling smoke. Switch out alligator clips if overheating occurs.
Test 3: Used odrive 2 with left middle motor, calibration and velocity 10 ran as expected. Points towards mechanical issue with the mounting
Test Summary
All 6 axis on 3 odrives are working correctly on motor gearbox set L2
All other joints are likely to experience manufacturing tolerancing issues
Suggesting Next Steps
Set up encoder motor set on skeleton board for software and firmware to test while mechanical fixes drive train issues
If command send for close loop control does not work, power off and do not send additional commands as that will overheat motor driver in lock-in state. Motor driver and wires will overheat significantly and cause fumes and damage to rest of electronics
Mechanical side will RCA on manufacturing and assembly side
Grease the turning parts or using bearings to make connection smoother. Believe performance will be even better than now with working L2 set up
Outstanding tickets:
- <action name>, <Assignee>
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