Odrive Motor RCA (Mechanical - 2025)

Owned by Yu-Ming He
Last updated: Jul 21, 2024 by Alex Szabo
2 min read

Due Date: Aug 16, 2022

Contributor Log

Name

Contribution

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

  • Jul 20, 2024 @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

 

time_vs_current_2024-07-20_20-24-23.png

Speed = 50, Velocity vs. Time

 

velocity_vs_time_2024-07-20_20-24-23.png

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

 

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

Odrive Config:

 

Relevant Documentation Links