First Calibration Issue

Support
1

Hello! I have been just learning how to use the ODrive, reading up on forums and have been running into this problem with calibrating my motor.

Here’s the motor I’m using - X8318S KV100 KV120 Brushless Motor High Power High Loading Motor for Large Hexacopter Octocopter Agricultural Drone HLY W9235|motor for|brushless motormotor brushless motor - AliExpress

Here’s the encoder - AS5047P (digikey)

After I run odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE, the motor only moves one direction then stops. Here are the dump errors:
system: not found
axis0
axis: Error(s):
UNKNOWN ERROR: 0x00000100
motor: no error
sensorless_estimator: no error
encoder: Error(s):
ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH
controller: no error
axis1
axis: no error
motor: no error
sensorless_estimator: no error
encoder: no error
controller: no error

After reading up on this I tried shadow count to make sure my encoder is working and I do get proper values for It. Any clue where to go from here. Thanks for all the help!

2

Have you set motor.config.pole_pairs properly?

That motor is 20 pole pairs IIRC. Or it might be 21.

3

What is your value for odrv0.axis0.encoder.config.cpr?
It should be 4x the Pulse Per Revolution (PPR) of your encoder

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4

Thanks for the responses! I actually fixed it last night, I had to change the cpr to 4000 then it just worked!

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