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Changed default dc max negative current, updated changelog

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PAJohnson
2021-05-05 21:34:02 -04:00
parent 427b7b4f11
commit e2cb18b3a7
3 changed files with 22 additions and 2 deletions
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docs/getting-started.md
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@@ -163,6 +163,9 @@ The tool you're looking at is a fully capable Python command prompt, so you can
You can read more about `odrivetool` [here](odrivetool.md).
## Debugging
If any of the following steps fail, print the errors by running `dump_errors(odrv0)` in `odrivetool`. You can clear errors by running `dump_errors(odrv0, True)` or `odrv0.clear_errors()`.
## Configure M0
<div class="alert" markdown="span">Read this section carefully, else you risk breaking something.</div>
<div class="note" markdown="span">There is a [separate guide](hoverboard.md) specifically for hoverboard motors.</div>
@@ -193,8 +196,14 @@ The motor will be limited to this speed. Again the default value is quite slow.
You can change `odrv0.axis0.motor.config.calibration_current` [A] to the largest value you feel comfortable leaving running through the motor continuously when the motor is stationary. If you are using a small motor (i.e. 15A current rated) you may need to reduce `calibration_current` to a value smaller than the default.
### 2. Set other hardware parameters
`odrv0.config.enable_brake_resistor`
Set this to `True` if using a brake resistor. You need to save the ODrive configuration and reboot the ODrive for this to take effect.
`odrv0.config.brake_resistance` [Ohm]
This is the resistance of the brake resistor. If you are not using it, you may set it to `0`. Note that there may be some extra resistance in your wiring and in the screw terminals, so if you are getting issues while braking you may want to increase this parameter by around 0.05 ohm.
This is the resistance of the brake resistor. You can leave this at the default setting if you are not using a brake resistor. Note that there may be some extra resistance in your wiring and in the screw terminals, so if you are getting issues while braking you may want to increase this parameter by around 0.05 ohm.
`odrv0.config.dc_max_negative_current` [Amps]
This is the amount of current allowed to flow back into the power supply. The convention is that it is negative. By default, it is set to a conservative value of 10mA. If you are using a brake resistor and getting `DC_BUS_OVER_REGEN_CURRENT` errors, raise it slightly. If you are not using a brake resistor and you intend to send braking current back to the power supply, set this to a safe level for your power source. Note that in that case, it should be higher than your motor current limit + current limit margin.
`odrv0.axis0.motor.config.pole_pairs`
This is the number of **magnet poles** in the rotor, **divided by two**. To find this, you can simply count the number of permanent magnets in the rotor, if you can see them.