I have a board which is Odrive 3.6-24V and a Gimbal Motor GB54-2. I want to control this motor with AS5047P. My project requires the encoder to work in absolute state，so I git clone https://github.com/Wetmelon/ODrive.git . Then I flashed the firmware. After that , my motor works fine in incremental mode.But when I changed to absolute value mode,there were problems.
What did I do:
In [91]: odrv0.axis0.config.startup_motor_calibration = True
In [92]: odrv0.axis0.config.startup_encoder_index_search = False
In [93]: odrv0.axis0.config.startup_encoder_offset_calibration = True
In [94]: odrv0.axis0.config.startup_closed_loop_control = True
In [95]: odrv0.axis0.config.startup_sensorless_control = True
In [96]: odrv0.axis0.encoder.config.use_index =False
In [97]: odrv0.axis0.encoder.config.cpr=16384
In [98]: odrv0.axis0.motor.config.pole_pairs = 7
In [99]: odrv0.axis0.motor.config.motor_type=MOTOR_TYPE_GIMBAL
In [100]: odrv0.axis0.encoder.config.abs_spi_cs_gpio_pin = 4
In [101]: odrv0.axis0.encoder.config.mode = 257
odrv0.axis0.motor.config.resistance_calib_max_voltage = 6
and this:
In [51]: odrv0.axis0
Out[51]:
error = 0x0200 (int)
step_dir_active = False (bool)
current_state = 1 (int)
requested_state = 0 (int)
loop_counter = 850041 (int)
lockin_state = 0 (int)
is_homed = False (bool)
config:
startup_motor_calibration = True (bool)
startup_encoder_index_search = False (bool)
startup_encoder_offset_calibration = True (bool)
startup_closed_loop_control = True (bool)
startup_sensorless_control = True (bool)
startup_homing = False (bool)
enable_step_dir = False (bool)
counts_per_step = 2.0 (float)
watchdog_timeout = 0.0 (float)
enable_watchdog = False (bool)
step_gpio_pin = 1 (int)
dir_gpio_pin = 2 (int)
calibration_lockin: ...
sensorless_ramp: ...
general_lockin: ...
can_node_id = 0 (int)
can_heartbeat_rate_ms = 100 (int)
motor:
error = 0x0010 (int)
armed_state = 0 (int)
is_calibrated = True (bool)
current_meas_phB = -0.04117631912231445 (float)
current_meas_phC = 0.058704160153865814 (float)
DC_calib_phB = -0.5227470993995667 (float)
DC_calib_phC = 0.10237519443035126 (float)
phase_current_rev_gain = 0.02500000037252903 (float)
thermal_current_lim = 47.97045135498047 (float)
get_inverter_temp()
current_control: ...
gate_driver: ...
timing_log: ...
config: ...
controller:
error = 0x0001 (int)
input_pos = 4078.015625 (float)
input_vel = 0.0 (float)
input_current = 0.0 (float)
pos_setpoint = 4078.015625 (float)
vel_setpoint = 0.0 (float)
current_setpoint = 0.0 (float)
trajectory_done = True (bool)
vel_integrator_current = 0.015419754199683666 (float)
anticogging_valid = False (bool)
gain_scheduling_width = 10.0 (float)
config: ...
move_incremental(displacement: float, from_goal_point: bool)
start_anticogging_calibration()
encoder:
error = 0x0000 (int)
is_ready = True (bool)
index_found = False (bool)
shadow_count = 3461 (int)
count_in_cpr = 3463 (int)
interpolation = 1.0 (float)
phase = -1.575730323791504 (float)
pos_estimate = 3463.453125 (float)
pos_cpr = 3463.15625 (float)
hall_state = 7 (int)
vel_estimate = 125.0 (float)
calib_scan_response = 18673.0 (float)
pos_abs = 3464 (int)
spi_error_rate = 0.0 (float)
config: ...
set_linear_count(count: int)
sensorless_estimator:
error = 0x0000 (int)
phase = 0.0 (float)
pll_pos = 0.0 (float)
vel_estimate = 0.0 (float)
config: ...
trap_traj:
config: ...
min_endstop:
endstop_state = False (bool)
config: ...
max_endstop:
endstop_state = False (bool)
config: ...
watchdog_feed()
clear_errors()
These are my settings，and then when I started , the motor could turn forward once and then reverse once. But when I wrote dump_errors(odrv0) , it showed that:
In [102]: dump_errors(odrv0)
axis0
axis: Error(s):
ERROR_CONTROLLER_FAILED
motor: Error(s):
ERROR_CONTROL_DEADLINE_MISSED
encoder: no error
controller: Error(s):
ERROR_OVERSPEED
axis1
axis: no error
motor: no error
encoder: no error
controller: no error
So I browsed the forum for solutions to this problem and tried to solve it.
First I wrote this line,but it did not work:
odrv0.axis0.controller.config.vel_limit_tolerance = 0
Second I increased the odrv0.axis0.controller.config.vel_limit, and when I set the limit to 30000,The motor vibrated, but the error remained. I dare not increase it any more.
Third I gradually reduced the gain , but the error remained forever ,This is my final parameters :
In [88]: odrv0.axis0.controller.config.vel_integrator_gain
Out[88]: 0.0
In [89]: odrv0.axis0.controller.config.vel_gain
Out[89]: 9.999999747378752e-06
In [90]: odrv0.axis0.controller.config.pos_gain
Out[90]: 1.0
So , does anyone know what I should do? It is important for me and my project to resolve this error. Your help will be greatly appreciated.