Hello my friends. Please can somebody help me? I have just received my absolute encoder AMS AS5048A, and I can’t make it work. I tested it with the Arduino library at it worked very well.
In the Odrive, after doing the configuration:
odrv0.axis0.motor.config.pole_pairs = 15
odrv0.axis0.motor.config.resistance_calib_max_voltage = 4
odrv0.axis0.motor.config.requested_current_range = 25
odrv0.axis0.motor.config.current_control_bandwidth = 100
odrv0.axis0.motor.config.torque_constant = 8.27 / 16 #hoverboard KV
odrv0.axis0.encoder.config.abs_spi_cs_gpio_pin = 4 #or
odrv0.axis0.encoder.config.mode = ENCODER_MODE_SPI_ABS_AMS
odrv0.axis0.encoder.config.cpr = 214 # or 212 for AMT232A and AMT233A
odrv0.axis0.encoder.config.bandwidth = 1000
odrv0.axis0.controller.config.pos_gain = 1
odrv0.axis0.controller.config.vel_gain = 0.02 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.encoder.config.cpr
odrv0.axis0.controller.config.vel_integrator_gain = 0.1 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.encoder.config.cpr
odrv0.axis0.controller.config.vel_limit = 10
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
odrv0.save_configuration()
odrv0.reboot()
I tried to do the motor calibration
odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION
I didn’t got the beep, but it shows the values and zero erros,
After that I tried to
odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
Here is the problem, nothing happens and the the error appeared
ERROR_ABS_SPI_COM_FAIL — 0x00000080
I’m using the odrive V3.6-56V and the firmware v0.5.1.post0
does any one know what I can do to solve the problem?