When I calibrate the motor all goes well with no errors, then I enter closed loop control, some times it has no stiffness and other times it holds position stiffly until i give it a setpoint then it only spins a little then stops and free wheels. Then in either state I read the errors I get the same errors;

In [122]: hex(odrv0.axis0.error)

Out[122]: ‘0x200’

In [123]: hex(odrv0.axis0.motor.error)

Out[123]: ‘0x10’

In [124]: hex(odrv0.axis0.encoder.error)

Out[124]: ‘0x0’

When the motor is not stiff after entering closed loop the above error states are the same.

So looking up these errors I find;

ERROR_CONTROL_DEADLINE_MISSED = 0x0010

ERROR_CONTROLLER_FAILED = 0x200

What to try now…