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) *
odrv0.axis0.controller.config.vel_limit,
odrv0.axis0.motor.config.current_lim,