Controller failed, all default, vel_setpoint

1

I have the 5065 motor, 24V board, normal encoder, all settings left to default.
I am sending vel_setpoint commands via UART.

Initially all works fine but when I increase the speed and send a command like odrv0.axis0.controller.vel_setpoint=19240 I get errors:

odrv0.axis0.error 0x200 --> ERROR_CONTROLLER_FAILED
odrv0.axis0.motor.error 0x10 --> ERROR_CONTROL_DEADLINE_MISSED
odrv0.axis0.controller.error 0x01 --> ERROR_OVERSPEED

Initially I thought my controller sends a too high a value but it sends above 19240 and the limit is the default 20000. So it is not that.

Second test was to increase the speed limit to 100’000.
odrv0.axis0.controller.config.vel_limit=100000
Now above speed command has no issues.

Any thoughts? Motor is turning free, no load.

2

I have increased the speed limit to the aforesaid 100’000 and sending vel_setpoint=99’000 and all works.

So still curious to what the reason might be but it is not urgent.

3

Have you checked what the encoder velocity feedback is getting to in the case where you trip the fault? Your set point is close enough to the limit that it is not at all surprising that you are seeing an overspeed fault.

4

That’s a very good point. Thanks!