I need help tuning an Odrive for step/dir control of a D5065.
I’ve built a 3D printer that I’m testing Odrive on. To do this, I’ve swapped out the Y-axis stepper for an odrive3.6 with a D5065 and AMT 102 encoder, same ones as in the Odrive store. My 3D printer control board (duet WiFi) is sending step/dir via its expansion header to the Odrive via a twisted pair. As far as I can tell, this is working fine.
My problem is this: the motor’s responsiveness to step/dir control is too slow. It’s not tracking with the stepper on the X axis. Instead of producing linear trajectories, it’s producing bezier curves. I don’t think this is an issue with lag between the controller and the odrive. Initiation of moves, requiring both the X stepper and the Y Odrive seem to happen at the same instant, as evidenced by 3D prints. I essentially need the Odrive motor to spin up and stop as quickly as possible. As much as I dislike this solution, I need the motor’s velocity/acceleration to be handled by the 3d printer controller.
Any suggestions for how to actually tune the motor’s position control (I’m assuming I need to tune current control) to get it to act more like a stepper?