I have setup my Hub Motor Type phub-29 a without errors.
But when i try to start the Closed Loop the Motor start to spin fast and then it rattle and go close to stop. After this it will be noisy sound and the wheel turns very low.
I try some commands ant it will react on this very slow.
Here my Full Setup 24V ODRIVE V3.6
type or paste code In [101]: odrv0.axis0
Out[101]:
acim_estimator:
config: ...
phase_offset: 0.0 (float)
rotor_flux: 0.0 (float)
slip_vel: 0.0 (float)
stator_phase: 0.0 (float)
stator_phase_vel: 0.0 (float)
config:
calibration_lockin: ...
can: ...
dir_gpio_pin: 2 (uint16)
enable_sensorless_mode: True (bool)
enable_step_dir: False (bool)
enable_watchdog: False (bool)
general_lockin: ...
sensorless_ramp: ...
startup_closed_loop_control: False (bool)
startup_encoder_index_search: False (bool)
startup_encoder_offset_calibration: False (bool)
startup_homing: False (bool)
startup_motor_calibration: False (bool)
step_dir_always_on: False (bool)
step_gpio_pin: 1 (uint16)
watchdog_timeout: 0.0 (float)
controller:
anticogging_valid: False (bool)
autotuning: ...
config: ...
electrical_power: 0.0 (float)
error: 0 (uint8)
input_pos: 0.0 (float)
input_torque: 0.0 (float)
input_vel: 0.0 (float)
last_error_time: 0.0 (float)
mechanical_power: 0.0 (float)
move_incremental(obj: object_ref, displacement: float, from_input_pos: bool)
pos_setpoint: 0.0 (float)
start_anticogging_calibration(obj: object_ref)
torque_setpoint: 0.0 (float)
trajectory_done: True (bool)
vel_integrator_torque: 0.0 (float)
vel_setpoint: 0.0 (float)
current_state: 1 (uint8)
encoder:
calib_scan_response: 0.0 (float)
config: ...
count_in_cpr: 3 (int32)
delta_pos_cpr_counts: -5.605193857299268e-45 (float)
error: 0 (uint16)
hall_state: 6 (uint8)
index_found: False (bool)
interpolation: 0.5 (float)
is_ready: False (bool)
phase: 0.0 (float)
pos_abs: 0 (int32)
pos_circular: 0.031250037252902985 (float)
pos_cpr_counts: 3.75 (float)
pos_estimate: 0.03125 (float)
pos_estimate_counts: 3.75 (float)
set_linear_count(obj: object_ref, count: int32)
shadow_count: 3 (int32)
spi_error_rate: 0.0 (float)
vel_estimate: 0.0 (float)
vel_estimate_counts: 0.0 (float)
error: 0 (uint32)
is_homed: False (bool)
last_drv_fault: 0 (uint32)
max_endstop:
config: ...
endstop_state: False (bool)
mechanical_brake:
config: ...
engage(obj: object_ref)
release(obj: object_ref)
min_endstop:
config: ...
endstop_state: False (bool)
motor:
DC_calib_phA: 0.029166029766201973 (float)
DC_calib_phB: 0.24090613424777985 (float)
DC_calib_phC: -0.2700740098953247 (float)
I_bus: 0.0 (float)
config: ...
current_control: ...
current_meas_phA: -0.03035343810915947 (float)
current_meas_phB: -0.24047648906707764 (float)
current_meas_phC: 0.2704218924045563 (float)
effective_current_lim: 20.0 (float)
error: 0 (uint64)
fet_thermistor: ...
is_armed: False (bool)
is_calibrated: True (bool)
last_error_time: 0.0 (float)
max_allowed_current: 60.75 (float)
max_dc_calib: 6.075000286102295 (float)
motor_thermistor: ...
n_evt_current_measurement: 1745204 (uint32)
n_evt_pwm_update: 1745212 (uint32)
phase_current_rev_gain: 0.02500000037252903 (float)
requested_state: 0 (uint8)
sensorless_estimator:
config: ...
error: 0 (uint8)
phase: 0.0 (float)
phase_vel: 0.0 (float)
pll_pos: 0.0 (float)
vel_estimate: 0.0 (float)
step_dir_active: False (bool)
steps: 0 (int64)
task_times:
acim_estimator_update: ...
can_heartbeat: ...
controller_update: ...
current_controller_update: ...
current_sense: ...
dc_calib: ...
encoder_update: ...
endstop_update: ...
motor_update: ...
open_loop_controller_update: ...
pwm_update: ...
sensorless_estimator_update: ...
thermistor_update: ...
trap_traj:
config: ...
watchdog_feed(obj: object_ref)here