Hi there!

I have two identical sensorless motors connected to Odrive 3.6

With identical settings, axis1 behaves abnormally when trying to control RPM via o**drv0.axis 1.controller.input_vel =** . The motor makes a hum, twitches and doesn`t rotate. I swapped the motors - both behave the same abnormally on **axis1**. I noticed that **odrv0.axis0.motor** and **odrv0.axis1.motor** show different **phase_inductance** values.

When connected to **axis0**, both motors are perfectly controlled.

What could this be related to? Help me figure it out, please.

In [8]: odrv0.axis0.motor

Out[8]:

DC_calib_phB: -1.2767964601516724 (float)

DC_calib_phC: -0.7720882296562195 (float)

armed_state: 0 (int32)

config:

acim_autoflux_attack_gain: 10.0 (float)

acim_autoflux_decay_gain: 1.0 (float)

acim_autoflux_enable: False (bool)

acim_autoflux_min_Id: 10.0 (float)

acim_gain_min_flux: 10.0 (float)

acim_slip_velocity: 14.706000328063965 (float)

calibration_current: 2.0 (float)

current_control_bandwidth: 100.0 (float)

current_lim: 10.0 (float)

current_lim_margin: 8.0 (float)

direction: 1 (int32)

inverter_temp_limit_lower: 100.0 (float)

inverter_temp_limit_upper: 120.0 (float)

motor_type: 0 (int32)

`phase_inductance: 9.781593689695e-05 (float)`

phase_resistance: 0.202789768576622 (float)

pole_pairs: 8 (int32)

pre_calibrated: True (bool)

requested_current_range: 25.0 (float)

resistance_calib_max_voltage: 4.0 (float)

torque_constant: 0.041349999606609344 (float)

torque_lim: inf (float)

current_control:

I_measured_report_filter_k: 1.0 (float)

Ibus: 0.7422491908073425 (float)

Id_measured: 0.2986033856868744 (float)

Id_setpoint: 0.0 (float)

Iq_measured: 1.2363317012786865 (float)

Iq_setpoint: -10.0 (float)

acim_rotor_flux: 0.0 (float)

async_phase_offset: 0.0 (float)

async_phase_vel: 0.0 (float)

final_v_alpha: 8.670488357543945 (float)

final_v_beta: 4.380721569061279 (float)

i_gain: 20.278976440429688 (float)

max_allowed_current: 30.375 (float)

overcurrent_trip_level: 33.75 (float)

p_gain: 0.009781593456864357 (float)

v_current_control_integral_d: -0.06251104176044464 (float)

v_current_control_integral_q: 9.7957124710083 (float)

current_meas_phB: -0.15194129943847656 (float)

current_meas_phC: -0.13232266902923584 (float)

effective_current_lim: 10.0 (float)

error: 16 (int32)

gate_driver:

drv_fault: 0 (int32)

is_calibrated: True (bool)

phase_current_rev_gain: 0.012500000186264515 (float)

timing_log:

adc_cb_dc: 12846 (uint16)

adc_cb_i: 2578 (uint16)

enc_calib: 39017 (uint16)

foc_current: 9090 (uint16)

foc_voltage: 40035 (uint16)

general: 12527 (uint16)

idx_search: 13120 (uint16)

meas_l: 54220 (uint16)

meas_r: 59956 (uint16)

sample_now: 25118 (uint16)

spi_end: 23754 (uint16)

spi_start: 9864 (uint16)

In [7]: odrv0.axis1.motor

Out[7]:

DC_calib_phB: -1.2352558374404907 (float)

DC_calib_phC: -1.3760173320770264 (float)

armed_state: 0 (int32)

config:

acim_autoflux_attack_gain: 10.0 (float)

acim_autoflux_decay_gain: 1.0 (float)

acim_autoflux_enable: False (bool)

acim_autoflux_min_Id: 10.0 (float)

acim_gain_min_flux: 10.0 (float)

acim_slip_velocity: 14.706000328063965 (float)

calibration_current: 2.0 (float)

current_control_bandwidth: 100.0 (float)

current_lim: 10.0 (float)

current_lim_margin: 8.0 (float)

direction: 1 (int32)

inverter_temp_limit_lower: 100.0 (float)

inverter_temp_limit_upper: 120.0 (float)

motor_type: 0 (int32)

**phase_inductance: 0.00010929963900707662 (float)**

phase_resistance: 0.2829059958457947 (float)

pole_pairs: 8 (int32)

pre_calibrated: True (bool)

requested_current_range: 25.0 (float)

resistance_calib_max_voltage: 4.0 (float)

torque_constant: 0.041349999606609344 (float)

torque_lim: inf (float)

current_control:

I_measured_report_filter_k: 1.0 (float)

Ibus: -0.00046596635365858674 (float)

Id_measured: -0.249151349067688 (float)

Id_setpoint: 0.0 (float)

Iq_measured: 0.035423219203948975 (float)

Iq_setpoint: -0.018442979082465172 (float)

acim_rotor_flux: 0.0 (float)

async_phase_offset: 0.0 (float)

async_phase_vel: 0.0 (float)

final_v_alpha: 0.029553677886724472 (float)

final_v_beta: -0.002875406062230468 (float)

i_gain: 28.290599822998047 (float)

max_allowed_current: 30.375 (float)

overcurrent_trip_level: 33.75 (float)

p_gain: 0.010929963551461697 (float)

v_current_control_integral_d: 0.027132106944918633 (float)

v_current_control_integral_q: -0.005696178879588842 (float)

current_meas_phB: 0.08751904964447021 (float)

current_meas_phC: 0.02672743797302246 (float)

effective_current_lim: 10.0 (float)

error: 0 (int32)

gate_driver:

drv_fault: 0 (int32)

is_calibrated: True (bool)

phase_current_rev_gain: 0.012500000186264515 (float)

timing_log:

adc_cb_dc: 14666 (uint16)

adc_cb_i: 4006 (uint16)

enc_calib: 34906 (uint16)

foc_current: 13470 (uint16)

foc_voltage: 10490 (uint16)

general: 63191 (uint16)

idx_search: 35141 (uint16)

meas_l: 10530 (uint16)

meas_r: 10522 (uint16)

sample_now: 16781 (uint16)

spi_end: 31173 (uint16)

spi_start: 24474 (uint16)