Hi,
I have an Odrive v3.6 connected to a CubeMars R160 (KV120) motor.
The encoder is AMT 103 set to 2048 PPR (8192 CPR).
Motor has 14 pole-pairs.
The initial configuration of axis 1 was relatively straightforward, except for a ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH error which was worked-around with a increase in the encoder.config.calib_range setting.
Full calibration was successful as was the encoder index search. The motor moved smoothly during the index search as well as during AXIS_STATE_STARTUP_SEQUENCE.
However, I’m unable to get the motor to rotate - not in CONTROL_MODE_VELOCITY_CONTROL, nor in CONTROL_MODE_POSITION_CONTROL. In both of these modes, there is a significant rise in current, but no movement. I have tried different settings of controller.input_vel and controller.input_pos in their respective control modes, but no movement.
Can you offer some advice here ?
Regards.