Hey, I am using an OdriveV3.6 to drive a custom made linear actuator, with this motor, an encoder and an endstop inside. I have been desperately trying to get this to work for the last few months, and I have had mixed success. I am driving the Odrive over UART from a development board.
Previously, I would have an error where I could not calibrate the Odrive from UART, but when I plug my laptop in, I can calibrate it with no problems.
Currently, I now cannot calibrate the motors from either. I get the following errors when running AXIS_STATE_FULL_CALIBRATION_SEQUENCE.
In [9]: dump_errors(odrv0, clear=True)
system: no error
axis0
axis: Error(s):
AxisError.MOTOR_FAILED
motor: Error(s):
MotorError.PHASE_INDUCTANCE_OUT_OF_RANGE
MotorError.CURRENT_LIMIT_VIOLATION
DRV fault: none
sensorless_estimator: no error
encoder: no error
controller: no error
axis1
axis: no error
motor: no error
DRV fault: none
sensorless_estimator: no error
encoder: no error
controller: no error
My motor config looks like so :
I_bus_hard_max: inf (float)
I_bus_hard_min: -inf (float)
I_leak_max: 0.10000000149011612 (float)
R_wL_FF_enable: False (bool)
acim_autoflux_attack_gain: 10.0 (float)
acim_autoflux_decay_gain: 1.0 (float)
acim_autoflux_enable: False (bool)
acim_autoflux_min_Id: 10.0 (float)
acim_gain_min_flux: 10.0 (float)
bEMF_FF_enable: False (bool)
calibration_current: 3.0 (float)
current_control_bandwidth: 1000.0 (float)
current_lim: 20.0 (float)
current_lim_margin: 2.0 (float)
dc_calib_tau: 0.20000000298023224 (float)
inverter_temp_limit_lower: 100.0 (float)
inverter_temp_limit_upper: 120.0 (float)
motor_type: 0 (uint8)
phase_inductance: inf (float)
phase_resistance: 0.16801410913467407 (float)
pole_pairs: 11 (int32)
pre_calibrated: False (bool)
requested_current_range: 60.0 (float)
resistance_calib_max_voltage: 6.0 (float)
torque_constant: 0.013299999758601189 (float)
torque_lim: inf (float)
Any help would be appreciated!