Clarification on encoder_pll_bandwidth

Hi all

One of my motors generates more noise than the other. In the troubleshooting guide, it says increase the encoder_pll_bandwidth. Does this refers to odrv0.axis0.encoder.config.bandwidth?

Edit: Do the gain values affect the noise as well? If so, is vel_gain the culprit?

Yes, that is the encoder pll bandwidth.

No, that shouldn’t affect the noise. pos or vel gain is much more likely to be the culprit.