Due Date:
Contributor Log
Name | Contribution |
|---|---|
Alex | |
Josh | |
Yuming |
Skills
Insert skill 1
Insert skill 2
Task Description
RCA on odrive motors to determine if the ones that are performing poorly are shorted due to over voltage theory.
Please construct and document test results table and observations when doing this task.
Task Breakdown
- Resistance for between phases for each motor needs to be measured and recorded (3 measurements per motor, label color of phase wires) Construct test table
- Calibrate and run motor with odrive in CLNF loop (look at odrive documentation configs Billy sent)
- Observe motor performance for specific velocities and under torque, measure current output and record for each motor
- Very rough step 3, etc….
Prerequisites
Is the completion of this task reliant on any other tasks (across any subteam) finishing up? Please detail them here with links to associated confluence pages and a brief description on what is waiting on what.
N/A
Progress Journal
Saheed Quadri (date and name)
brief update on whats done and what are the next steps, photos and images and videos are preferred
Etc. Alex Szabo
Motor Testing (Motor 1, In 3D printed Case)
Setup: 4A max current, 24V
Odrive config wiped
odrv0.axis0.motor.config.motor_type = MOTOR_TYPE_HIGH_CURRENT #this is default anyways
odrv0.axis0.motor.config.current_lim = 30 # Adjust as needed
odrv0.axis0.encoder.config.mode = ENCODER_MODE_INCREMENTAL
odrv0.axis0.encoder.config.pre_calibrated = False
odrv0.axis0.encoder.config.cpr = 8192
odrv0.config.enable_brake_resistor =
Trueodrv0.config.brake_resistance = 2
Results
Speeds 5 - 50
Current remained under 1A
Speed = 50, Current vs. Time
Speed = 50, Velocity vs. Time
Note: I will have more data analysis later, just doing some in Python to get more insights.
Motor Resistances:
This was very surprising. Here's a table for more insight.
Motor 1 | Motor 2 | Motor 3 | Motor 4 | Motor 5 | Motor 6 | |
|---|---|---|---|---|---|---|
Blue-Red Resistance (ohms) | 0.2 | 0.2 | 0.2 | 0.2 | 0.2 | 0.2 |
Blue-Yellow Resistance (ohms) | 0.2 | 0.2 | 0.2 | 0.2 | 0.2 | 0.2 |
Red-Yellow Resistance (ohms) | 0.2 | 0.2 | 0.2 | 0.2 | 0.2 | 0.2 |