ABS_SPI_COM_FAIL error after running odrv0.save_configuration()

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1

Hi, I’m using odrive v3.6, firmware 0.5.1, AS5047P encoder with SPI.
As long as I don’t run odrv0.save_configuration(), everything works fine.
I find it hard to believe that this is caused by interface or pool wiring, otherwise I shouldn’t be able to run closed loop control.

Reconnected to ODrive as odrv0

In [25]: odrv0.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE

In [26]: dump_errors(odrv0)
axis0
  axis: no error
  motor: no error
  fet_thermistor: no error
  motor_thermistor: no error
  encoder: no error
  controller: no error
axis1
  axis: no error
  motor: no error
  fet_thermistor: no error
  motor_thermistor: no error
  encoder: no error
  controller: no error

In [27]: odrv0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

In [28]: dump_errors(odrv0)
axis0
  axis: no error
  motor: no error
  fet_thermistor: no error
  motor_thermistor: no error
  encoder: no error
  controller: no error
axis1
  axis: no error
  motor: no error
  fet_thermistor: no error
  motor_thermistor: no error
  encoder: no error
  controller: no error

In [29]: odrv0.save_configuration()

In [30]: dump_errors(odrv0)
axis0
  axis: no error
  motor: no error
  fet_thermistor: no error
  motor_thermistor: no error
  encoder: no error
  controller: no error
axis1
  axis: Error(s):
    AXIS_ERROR_ENCODER_FAILED
  motor: no error
  fet_thermistor: no error
  motor_thermistor: no error
  encoder: Error(s):
    ENCODER_ERROR_ABS_SPI_COM_FAIL
  controller: no error
2

This may be a transient issue on boot – if you run odrv0.clear_errors() does the error show up again?

3

No, it disappears.

4

At first it gave one more error.

Oh no odrv0 disappeared
Reconnected to ODrive as odrv0
In [4]: odrv0.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE

In [5]: odrv0.save_configuration()

In [6]: dump_errors(odrv0)
axis0
  axis: no error
  motor: no error
  fet_thermistor: no error
  motor_thermistor: no error
  encoder: no error
  controller: no error
axis1
  axis: Error(s):
    AXIS_ERROR_CURRENT_MEASUREMENT_TIMEOUT
    AXIS_ERROR_ENCODER_FAILED
  motor: no error
  fet_thermistor: no error
  motor_thermistor: no error
  encoder: Error(s):
    ENCODER_ERROR_ABS_SPI_COM_FAIL
  controller: no error

In [7]: odrv0.axis1.clear_errors()

In [8]: dump_errors(odrv0)
axis0
  axis: no error
  motor: no error
  fet_thermistor: no error
  motor_thermistor: no error
  encoder: no error
  controller: no error
axis1
  axis: Error(s):
    AXIS_ERROR_CURRENT_MEASUREMENT_TIMEOUT
    AXIS_ERROR_ENCODER_FAILED
  motor: no error
  fet_thermistor: no error
  motor_thermistor: no error
  encoder: Error(s):
    ENCODER_ERROR_ABS_SPI_COM_FAIL
  controller: no error

After I rebooted the board again, the CURRENT_MEASUREMENT_TIMEOUT error disappeared. odrv0.axis1.clear_errors() does clear the error, but I still have to re-calibrate encoder because odrv0.save_configuration() doesn’t save the calibration result as document says.

5

Try also setting odrv0.axis1.encoder.config.pre_calibrated = True before the save_configuration()

6

ODrive now is working as I intend, though still get the annoying ABS_SPI_COM_FAIL error when run odrv0.save_configuration().
thx for your response!

7

Great to hear it’s working! Note I think you can ignore the error if needed – it should be cleared when you enter closed loop.

It could also be an EMI or wiring issue - if you want to send a picture of your wiring, happy to take a look.