Each time ODrive starts, recalibration is required

1

Hi,

I’m using an ODrive 3.6, with odrivetool 0.5.4.

Despite having followed the Getting Started guide in each step, including saving configuration, each time the ODrive reboots I have to re-run the full calibration.


In [23]: odrv0.axis1.encoder.is_ready
Out[23]: False

In [24]: odrv0.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE

In [25]: odrv0.axis1.encoder.is_ready
Out[25]: True

I understand this shouldn’t be the case with this firmware version.

If I don’t, and I attempt to enter closed loop control, the ODrive simply does not respond, and the following error message is found:

In [26]: odrv0.reboot()
Oh no odrv0 disappeared

Reconnected to ODrive 364D38633030 as odrv0
In [27]: odrv0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

In [28]: dump_errors(odrv0)
system: no error
axis0
  axis: no error
  motor: no error
  sensorless_estimator: no error
  encoder: no error
  controller: no error
axis1
  axis: Error(s):
    AXIS_ERROR_INVALID_STATE
  motor: no error
  sensorless_estimator: no error
  encoder: no error
  controller: no error

What can the problem be?

Thank you.

2

Yes, this is normal. To avoid it, you need an encoder with an index pin or an absolute encoder. Encoders — ODrive Documentation 0.5.4 documentation

3

I forgot to add that my encoder does have an index pulse indeed.

I will follow the instructions in the documentation you provided me. If I don’t get back to you, it means it worked. Thanks in that case!

Have a good evening.