Encoder and Motor Parameters

Hello to everyone.

I have a problem. I need some support.

I want to use odrive in position control mode(M0).

tools in my hand are 190 kv brushless motor and CUI ATM21 encoder

Commands I use for this …
1-)odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
2-)odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
3-)odrv0.axis0.controller.input_pos = 1
when ı used this commands motor is turning but half turning.

Do I need to adjust the pid settings for full rotation?

like these * <axis>.controller.config.pos_gain = 20.0 [(turn/s) / turn]

  • <axis>.controller.config.vel_gain = 0.16 [Nm/(turn/s)]

  • <axis>.controller.config.vel_integrator_gain = 0.32 [Nm/((turn/s) *



No idea. What does “half turning” mean?

Did you set the encoder.config.cpr?