Hello, I’m in the process of setting up an encoder with an index signal following instructions on the https://docs.odriverobotics.com/encoders.html page on my V3.6 56V odrive system. I first followed the “Encoder with index signal” section, then made my way down to the “Startup sequence notes.” Unfortunately, I get an “ERROR_INVALID_STATE” when I get to the point where it says, “If calibration works, congratulations. Now try: .requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL”. Here’s what I tried: 1) confirmed that the encoder works by using the encoder.shadow_count command and moving the motor in velocity control mode 2) Added a 47nF cap to the Z signal in case index signal was too noisy 3) re-ran the motor tuning process twice. Any help would be highly appreciated.
As a side question, is the system supposed to hold position (i.e. fight you) when the index search is executed at the start of boot? That’s not happening in my case and the index “exact” position seems to be inconsistent on successive boots (hence the reason for the 47nF cap addition thinking it was noise related). Thanks in advance!