4 Pole In-Runner With Encoder - Resolution


I am just getting started with the O-Drive, having used many stepper drives in the past. I have quite a few of these hobby motors, and would like to use them for a CNC machine. I purchased the ODrive Pro, with the AMT21 encoder, have it mounted and powered.


A few Questions:

  1. The rotor has 4 magnets in it, does that mean I should set odrv0.axis0.config.motor.pole_pairs =2?

  2. What kind of accuracy can I expect from this motor? Are there ways to tune it for higher performance? I can go through a fairly large gearbox - 10/1 is what I was thinking. Evan after the reduction, can I expect resolution similar to a 1.8 degree stepper motor?

  3. When I use odrv0.axis0.controller.input_pos = .25, it struggles to accurately hit that position. Am I setting it up wrong? Was hoping to be able to jog it a few degrees.