My motor is mounted on two load-cells so that I can measure the amount of force being produced. However, I am reading a lot of noise on my load cells, and it appears to be related to my motor or encoder. Below is a sample of the voltage measured after amplifying the signal from my loadcells. The blue line is the voltage measured by the Odrive at GPIO1, which is the output of the amplifier comparing the loadcells. The red line, only barely visible at the bottom of the graph is the motor current
At the mid-way point in the graph i call
odrv0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL. This leads me to believe that my motor and/or encoder is the source of the noise.
The earth pin from my encoder shares earth with the amplifier & loadcells. The motor is also conductively connected to the load-cells. What is the best way to get rid of this noise?