I’m having a difficult time spinning a Maxon motor with Odrive. It’s at the very beginning, at the calibration stage. It gives me the odrv0.axis0.error of 0x40 and the odrv0.axis0.motor.error = 0x90. I searched the source code for the error codes and it refers me to motor.hpp for the motor errors. But, there is no 0x90 in the list.
I assume the issue is overcurrent at the calibration. The reason is, I see motor moving a bit and then drawing nearly 10A current without moving, until the calibration aborts and gives that error.
In : odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
In : hex(odrv0.axis0.motor.error)
In : hex(odrv0.axis0.error)
and here is my config:
In : odrv0.axis0.motor.config
pre_calibrated = False (bool)
pole_pairs = 1 (int)
calibration_current = 10.0 (float)
resistance_calib_max_voltage = 50.0 (float)
phase_inductance = 0.0 (float)
phase_resistance = 0.0 (float)
direction = 1 (int)
motor_type = 0 (int)
current_lim = 20.0 (float)
requested_current_range = 70.0 (float)
current_control_bandwidth = 1000.0 (float)
BTW, the inductance of the motor is 0.08mH and its resistance is 0.39 per the manufacturer.