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1

Hi all so

I hooked up my odrive to a D50625 with the 8192 encoder kit.
I have reflashed it with the latest firmware.

I am starting with one motor and a 300W 24V psu.

After boot I can call the following

odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE

the motor does its stuff OK

then if I call

odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL it locks solid

odrv0.axis0.controller.pos_setpoint = 10000 usually works the first time
then calling
`odrv0.axis0.controller.pos_setpoint = 0 sometimes works

then after usually less than three repeated calls to pos_setpoint = 0 and 10000 it doesn’t move
called the cal function then no longer works

I have to call reboot and start again ?

Any ideas ?

Reconnected to ODrive 206A3366304B as odrv0
In [21]: odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE

In [22]: odrv0.axis0.controller.pos_setpoint = 10000 (nothing happens as expected)

In [23]: odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

In [24]: odrv0.axis0.controller.pos_setpoint = 10000 (This works)

In [25]: odrv0.axis0.controller.pos_setpoint = 10000 (This works as a test no movement)

In [26]: odrv0.axis0.controller.pos_setpoint = 5000 (this works)

In [27]: odrv0.axis0.controller.pos_setpoint = 50000 (this works)

In [28]: odrv0.axis0.controller.pos_setpoint = 5 (nothing happens)

In [29]: odrv0.axis0.controller.pos_setpoint = 0 (nothing happens)

In [30]: odrv0.axis0.controller.pos_setpoint = 50000 (nothing happens)

then needs a reboot before the cal will run.

I dumped errors and got

In [21]: dump_errors(odrv0)
axis0
axis: Error(s):
ERROR_CONTROLLER_FAILED
motor: Error(s):
ERROR_CONTROL_DEADLINE_MISSED
encoder: no error
controller: Error(s):
ERROR_OVERSPEED
axis1
axis: no error
motor: no error
encoder: no error
controller: no error

Peter

2

Hi

I’m getting there slowly

1/ Firstly the pole pairs is set to 7 by default , how many does the D5065 have ?

2/ The holding current of the motor if set too low gives encoder errors.
It fails the initial calibration.

I have it working now and I will post my experience later.

Peter

3

Hi

  1. I think 7, you can count them

  2. increase config current

Cheers