The odrive generally works and we’re able to fully calibrate with our 8192-pos encoders… but axis 0 emits a loud whining sound whereas axis 1 is pretty quiet. The whining starts as soon as: odrv0.axis0.requested_state = 8 (closed loop control mode).
We swapped motors between axis0 and axis1 to confirm this issue was not a motor problem.
We disconnected axis1 to confirm this issue was not an insufficient-capacitance-between-a0a1 problem.
We have 2 odrive modules. On our second odrive module, not only does axis0 whine but it also jiggles the motor when no input_pos commands are issued. Again, we tested to confirm this is not a motor problem.