Encoder Error during calibration and unstable current

Support
1

Hello, I recently bought an Odrive. I was able to get it up and running at one point, but now have an Encoder Error when I run full calibration or just motor calibration. I was able to accurately shadow count the encoder, and every now and then the motor does calibrate, however its very spotty. Another issue I noticed was that I get an Unstable Current error when I run in Closed loop on the times that it did calibrate.

Setup
Motor: DUAL SHAFT MOTOR - D5065 270KV
Encoder: AMT232B-V absolute encoder
Power Supply: 24V 18A
ODrive Firmware: v0.5.1-dev
OS: Windows 10
ODRIVE V3.6 56V

Any help would be appreciated!

2

Check that the encoder is well secured to the shaft and is not slipping, would be my suggestion.

3

It is firmly attached.

4

There were some recent changes to the python odrive package. The UNSTABLE_CURRENT error is from an older version of that package. Can you upgrade the package by running pip install --upgrade odrive? We got more descriptive with the errors, which will help with debugging.

5

After upgrading at Mr. Johnson’s recommendation, I get an ENCODER_ERROR_ABS_SPI_COM_FAIL. Any idea what might cause that?

6

We recently discovered the AMT232b-v does not properly tri-state its MISO pin. This causes conflicts with the motor drivers. The solution is either to power the AMT232 on after the motor driver configuration (about 1 second after power on), OR add a tri-state buffer on the MISO pin.

7

So I have been power cycling the encoder, that’s how I was able to shadow count correctly. My problem is that I get this errors after dumping and verifying that shadow count is changing correctly