Calibration Problem

#1

Hi all,

I use Odrive v3.6 with T-motor(U8 Pro) and encoder(AS5047D).

But when I run odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
The motor just ran in one direction and stopped. Then I got the error: ERROR_CPR_OUT_OF_RANGE

But from AS5047D datasheet, I believe CPR is 2000.

Then I did encoder test with command: shadow_count
The value could change, so I think the encoder is Ok.

Can someone help me with it ?

#2

Reboot your odrive so shadow_count is = 0 (or nearly). Spin the motor around one time. Check shadow_count again. What value do you get?

#3

Hi,

It is 1991, so I think it should be 2000 CPR

#4

Ok, then it’s most likely an issue with the pole_pairs setting. Do you know how many pole_pairs that motor has?

#5

Hi,

The motor looks like this:

1498631115614562
1498631115614562.jpg940×500 130 KB

So I believe the pole_pairs is 18.

#6

According to this image, it’s a 36N42P motor so it would be 21 pole pairs, not 18.

image
image.jpg940×566 87.5 KB

#7

Thank you for your correction. Unfortunately, it still just ran in one direction and stopped. And sometimes when running AXIS_STATE_FULL_CALIBRATION_SEQUENCE, the motor didn’t move. Do you know why?

#8

When the case that the motor didn’t run, the error is : axis:ERROR_CURRENT_MEASUREMENT_TIMEOUT

And there is no error about encoder.

#9

It works ! Thank you very much! I forget to change CPR.