Once I calibrate my odrive and the motor works successfully, then i use input velocity and both motors run perfectly. But when IReconnected to ODrive v3.6 367331653333 (firmware v0.5.1) as odrv0
In [10]: odrv0.axis1.controller.input_vel = 1
In [11]: odrv0.axis0.controller.input_vel = 1
In [12]: odrv0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
In [13]: odrv0.axis1.controller.input_vel = 1
In [14]: odrv0.axis1.error
Out[14]: 1
In [15]: odrv0.axis1.error = 0
In [16]: odrv0.axis1.error
Out[16]: 0
In [17]: odrv0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
In [18]: odrv0.axis1.controller.input_vel = 1
In [19]: odrv0.axis1.error
Out[19]: 1
In [20]: odrv0. reboot the odrive an error 1 pops up. Knowing that I saved the configuration
What does dump_errors(odrv0) return?
Hello its giving me invalid axis state
axis0
axis: no error
motor: no error
DRV fault: not found
sensorless_estimator: no error
encoder: no error
controller: no error
axis1
axis: Error(s):
AxisError.INVALID_STATE
motor: no error
DRV fault: not found
sensorless_estimator: no error
encoder: no error
controller: no error
You’re using an incremental encoder, which means you need to calibrate the ODrive or run index search at every boot. See here: Encoders — ODrive Documentation 0.5.6 documentation
But is it normal to the control state to be setted to 1?
Also do you eecommend using capacitors?
One more thing simetimes it give error 32 and 256 and 257 and 64.
When I reboot odrive the problem disappears
Sorry, instead of posting the error number, you should always show dump_errors(odrv0)
INVALID_STATE would be set if the motor isn’t calibrated yet and you’re attempting to enter closed loop, I believe.
Capacitors for what?
But motor is calibrated
Even if calibrate my motors, and then I reboot my odrive invalid axia state pops up
And when checking the current state it gives 1
You’re using incremental encoders, correct? That means that every single time you reboot the ODrive, you need to re-run AXIS_STATE_ENCODER_OFFSET_CALIBRATION, or set up index search. The motor calibration will retain between power cycles, but the encoder calibration will not. You would need to use hall sensors or an absolute encoder.