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clarify documentation

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This commit is contained in:
Samuel Sadok
2021-09-03 16:41:30 +02:00
parent bd80d18254
commit 86f2aa3ca5
2 changed files with 15 additions and 6 deletions
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Firmware/odrive-interface.yaml
+14 -6
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@@ -68,7 +68,9 @@ interfaces:
DC_BUS_OVER_REGEN_CURRENT:
doc: |
Current flowing back into the power supply exceeded `config.dc_max_negative_current`.
This can happen if your brake resistor is unable to handle the braking current. Check that
This can happen if your brake resistor is disabled or unable to handle the braking current.
Check that `config.enable_brake_resistor` is `True` and that
`(V_power_supply / Brake_resistance) > (total motor.config.current_lim + total motor.config.current_lim_margin)`.
DC_BUS_OVER_CURRENT:
doc: |
@@ -687,12 +689,18 @@ interfaces:
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`.
BRAKE_RESISTOR_DISARMED:
BRAKE_RESISTOR_DISARMED:
doc: |
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.
An attempt was made to run the motor PWM while the brake resistor was configured as enabled
(`config.enable_brake_resistor`) but disarmed.
The most common cause is that you just set `config.enable_brake_resistor` to `True` but didn't
arm the brake resistor yet (by either rebooting or running `odrvX.clear_errors()`).
Otherwise, the brake resistor can be disarmed due to various system-wide errors.
The root cause will usually show up under `system:` when you run `dump_errors(odrvX)`.
To re-arm the brake resistor reboot the ODrive or run `odrvX.clear_errors()`.
SYSTEM_LEVEL:
doc: |
The motor had to be disarmed because of a system level error.
docs/troubleshooting.md
+1
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@@ -14,6 +14,7 @@ Table of Contents:
If your ODrive is not working as expected, run `odrivetool` and type `dump_errors(odrv0)` <kbd>Enter</kbd>. This will dump a list of all the errors that are present. To clear all the errors, you can run `odrv0.clear_errors()`.
With this information you can look up the API documentation for your error(s):
* System error flags documented [here](api/odrive.error).
* Axis error flags documented [here](api/odrive.axis.error).
* Motor error flags documented [here](api/odrive.motor.error).
* Encoder error flags documented [here](api/odrive.encoder.error).