High performance motor control
View the Project on GitHub odriverobotics/ODrive
Help improve these docs: submit edits using the link in the top right.
If you need help, please search or ask the ODrive Community.
No description
ERROR_PHASE_RESISTANCE_OUT_OF_RANGE — 0x00000001
The measured motor phase resistance is outside of the plausible range.
During calibration the motor resistance and inductance is measured. If the measured motor resistance or inductance falls outside a set range this error will be returned. Check that all motor leads are connected securely.
The measured values can be viewed using odrivetool as is shown below:
In [2]: odrv0.axis0.motor.config.phase_inductance
Out[2]: 1.408751450071577e-05
In [3]: odrv0.axis0.motor.config.phase_resistance
Out[3]: 0.029788672924041748
Some motors will have a considerably different phase resistance and inductance than this. For example, gimbal motors, some small motors (e.g. < 10A peak current). If you think this applies to you try increasing config.resistance_calib_max_voltage from its default value of 1 using odrivetool and repeat the motor calibration process. If your motor has a small peak current draw (e.g. < 20A) you can also try decreasing config.calibration_current from its default value of 10A.
In general, you need
resistance_calib_max_voltage > calibration_current * phase_resistance
resistance_calib_max_voltage < 0.5 * vbus_voltage
ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE — 0x00000002
The measured motor phase inductance is outside of the plausible range.
See PHASE_RESISTANCE_OUT_OF_RANGE for details.
The gate driver chip reported an error.
The ODrive v3.4 is known to have a hardware issue whereby the
motors would stop operating when applying high currents to M0. The
reported error of both motors in this case is ERROR_DRV_FAULT.
The conjecture is that the high switching current creates large ripples in the power supply of the DRV8301 gate driver chips, thus tripping its under-voltage fault detection.
To resolve this issue you can limit the M0 current to 40A. The lowest current at which the DRV fault was observed is 45A on one test motor and 50A on another test motor. Refer to this post for instructions for a hardware fix.
ERROR_CONTROL_DEADLINE_MISSED — 0x00000010
No description
ERROR_MODULATION_MAGNITUDE — 0x00000080
The bus voltage was insufficent to push the requested current through the motor. If you are getting this during motor calibration, make sure that config.resistance_calib_max_voltage is no more than half your bus voltage.
For gimbal motors, it is recommended to set the config.calibration_current and config.current_lim to half your bus voltage, or less.
ERROR_CURRENT_SENSE_SATURATION — 0x00000400
The current sense circuit saturated the current sense amplifier. This can be caused by setting config.current_lim higher than config.requested_current_range. If this happens, increase the requested current range, save the configuration, and reboot the controller.
ERROR_CURRENT_LIMIT_VIOLATION — 0x00001000
The motor current exceeded motor.config.current_lim + motor.config.current_lim_margin.
The current controller is a PI controller, so it can experience overshoot. The PI gains
are automatically calculated based on config.current_control_bandwidth and the
motor resistance and inductance (pole placement). Some overshoot is normal, so a sensible
solution is to increase the current limit margin if your current limit is large.
ERROR_MODULATION_IS_NAN — 0x00010000
No description
ERROR_MOTOR_THERMISTOR_OVER_TEMP — 0x00020000
The motor thermistor measured a temperature above motor.motor_thermistor.config.temp_limit_upper
ERROR_FET_THERMISTOR_OVER_TEMP — 0x00040000
The inverter thermistor measured a temperature above motor.fet_thermistor.config.temp_limit_upper
ERROR_TIMER_UPDATE_MISSED — 0x00080000
A timer update event was missed. Perhaps the previous timer update took too much time. This is not expected in official release firmware.
ERROR_CURRENT_MEASUREMENT_UNAVAILABLE — 0x00100000
The phase current measurement is not available. The ADC failed to sample the current sensor in time. This is not expected in official release firmware.
ERROR_CONTROLLER_FAILED — 0x00200000
The motor was disarmed because the underlying controller failed. Usually this is the FOC controller.
ERROR_I_BUS_OUT_OF_RANGE — 0x00400000
The DC current sourced/sunk by this motor exceeded the configured hard limits. More specifically I_bus fell outside of the range config.I_bus_hard_min … config.I_bus_hard_max.
ERROR_BRAKE_RESISTOR_DISARMED — 0x00800000
An attempt was made to run the motor PWM while the brake resistor was enabled but disarmed.
The brake resistor can be disarmed for many reasons, but this usually happens if an error
is thrown that disables the motor. Check for other errors, then run odrvX.clear_errors()
to clear the errors and rearm the brake resistor.
ERROR_SYSTEM_LEVEL — 0x01000000
The motor had to be disarmed because of a system level error. See <odrv>.error for more details.
The main control loop got out of sync with the motor control loop. This could indicate that the main control loop got stuck.
ERROR_UNKNOWN_PHASE_ESTIMATE — 0x04000000
The current controller did not get a valid angle input. Maybe you didn’t calibrate the encoder.
ERROR_UNKNOWN_PHASE_VEL — 0x08000000
The motor controller did not get a valid phase velocity input.
ERROR_UNKNOWN_TORQUE — 0x10000000
The motor controller did not get a valid torque input.
ERROR_UNKNOWN_CURRENT_COMMAND — 0x20000000
The current controller did not get a valid current setpoint. Maybe you didn’t configure the controller correctly.
ERROR_UNKNOWN_CURRENT_MEASUREMENT — 0x40000000
The current controller did not get a valid current measurement.
ERROR_UNKNOWN_VBUS_VOLTAGE — 0x80000000
The current controller did not get a valid <odrv>.vbus_voltage measurement.
ERROR_UNKNOWN_VOLTAGE_COMMAND — 0x100000000
The current controller did not get a valid feedforward voltage setpoint.
ERROR_UNKNOWN_GAINS — 0x200000000
The current controller gains were not configured. Run motor calibration or set config.phase_resistance and config.phase_inductance manually.
ERROR_CONTROLLER_INITIALIZING — 0x400000000
Internal value used while the controller is not yet ready to generate PWM timings.
ERROR_UNBALANCED_PHASES — 0x800000000
The motor phases are not balanced.