David8
August 7, 2025, 8:17pm
1
Hello, I have a problem with my GIM6010-8 motor equipped with a GDS68 card.
When using USB with odrivetool on the terminal, when I try to recalibrate it with the command odrv0.axis0.requested_state = 3, it beeps briefly, turns a little in one direction, then in the other, but does not stop. Commands to try to stop it, such as odrv0.axis0.requested_state = 1 or odrv0.reboot(), do not work. The terminal freezes and the motor continues to turn. I also tried calibrating via CAN, but got the same result.
I tried odrv0.erase_configuration() and a firmware flash, but the result remained the same. I’m really wondering why this motor suddenly got stuck in this state.
Do you have any ideas? Thank you for your help!
Very strange. Can you post all your config? What encoder are you using?
David8
August 8, 2025, 7:16am
3
Thank you for your reply. The motor was purchased here: https://sharingwin.com/product/steadywin-gim6010-8-joint-motor-5nm/
Here are the configurations:
Reconnected to ODrive v3.11-1V BL72.CyberBeast.cn (firmware v0.5.16) as odrv0
In [97]: odrv0.config
Out[97]:
brake_resistance: 2.0 (float)
comm_intf_mux: 0 (uint8)
dc_bus_overvoltage_ramp_end: 64.20000457763672 (float)
dc_bus_overvoltage_ramp_start: 64.20000457763672 (float)
dc_bus_overvoltage_trip_level: 64.20000457763672 (float)
dc_bus_undervoltage_trip_level: 15.0 (float)
dc_max_negative_current: -10.0 (float)
dc_max_positive_current: 15.0 (float)
enable_brake_resistor: False (bool)
enable_can_a: True (bool)
enable_dc_bus_overvoltage_ramp: False (bool)
enable_i2c_a: True (bool)
enable_swd: False (bool)
enable_uart_a: False (bool)
enable_uart_b: False (bool)
enable_uart_c: False (bool)
error_gpio_pin: 0 (uint32)
gpio10_mode: 3 (uint8)
gpio11_mode: 15 (uint8)
gpio12_mode: 8 (uint8)
gpio13_mode: 8 (uint8)
gpio14_mode: 7 (uint8)
gpio15_mode: 7 (uint8)
gpio16_mode: 0 (uint8)
gpio1_mode: 1 (uint8)
gpio1_pwm_mapping:
endpoint: None (endpoint_ref)
max: 0.0 (float)
min: 0.0 (float)
gpio2_mode: 1 (uint8)
gpio2_pwm_mapping:
endpoint: None (endpoint_ref)
max: 0.0 (float)
min: 0.0 (float)
gpio3_analog_mapping:
endpoint: None (endpoint_ref)
max: 0.0 (float)
min: 0.0 (float)
gpio3_mode: 15 (uint8)
gpio3_pwm_mapping:
endpoint: None (endpoint_ref)
max: 0.0 (float)
min: 0.0 (float)
gpio4_analog_mapping:
endpoint: None (endpoint_ref)
max: 0.0 (float)
min: 0.0 (float)
gpio4_mode: 15 (uint8)
gpio4_pwm_mapping:
endpoint: None (endpoint_ref)
max: 0.0 (float)
min: 0.0 (float)
gpio5_mode: 15 (uint8)
gpio6_mode: 10 (uint8)
gpio7_mode: 1 (uint8)
gpio8_mode: 3 (uint8)
gpio9_mode: 3 (uint8)
max_regen_current: 0.0 (float)
uart0_protocol: 3 (uint8)
uart1_protocol: 3 (uint8)
uart2_protocol: 3 (uint8)
uart_a_baudrate: 115200 (uint32)
uart_b_baudrate: 115200 (uint32)
uart_c_baudrate: 115200 (uint32)
usb_cdc_protocol: 3 (uint8)
In [98]: odrv0.axis0.motor.config
Out[98]:
I_bus_hard_max: inf (float)
I_bus_hard_min: -inf (float)
I_leak_max: 0.10000000149011612 (float)
R_wL_FF_enable: False (bool)
acim_autoflux_attack_gain: 10.0 (float)
acim_autoflux_decay_gain: 1.0 (float)
acim_autoflux_enable: False (bool)
acim_autoflux_min_Id: 10.0 (float)
acim_gain_min_flux: 10.0 (float)
bEMF_FF_enable: False (bool)
calibration_current: 2.0 (float)
current_control_bandwidth: 1000.0 (float)
current_lim: 60.0 (float)
current_lim_margin: 8.0 (float)
dc_calib_tau: 0.20000000298023224 (float)
gear_ratio: 8.0 (float)
inverter_temp_limit_lower: 100.0 (float)
inverter_temp_limit_upper: 120.0 (float)
motor_type: 0 (uint8)
phase_inductance: 0.00036800000816583633 (float)
phase_resistance: 0.47999998927116394 (float)
pole_pairs: 14 (int32)
pre_calibrated: False (bool)
requested_current_range: 60.0 (float)
resistance_calib_max_voltage: 7.0 (float)
torque_constant: 0.09700000286102295 (float)
torque_lim: inf (float)
In [99]: odrv0.axis0.encoder.config
Out[99]:
abs_spi_cs_gpio_pin: 11 (uint16)
bandwidth: 500.0 (float)
calib_range: 0.019999999552965164 (float)
calib_scan_distance: 87.964599609375 (float)
calib_scan_omega: 12.566370964050293 (float)
cpr: 16384 (int32)
direction: 0 (int32)
enable_phase_interpolation: True (bool)
find_idx_on_lockin_only: False (bool)
hall_polarity: 0 (uint8)
hall_polarity_calibrated: False (bool)
ignore_illegal_hall_state: False (bool)
index_offset: 0.0 (float)
mode: 260 (uint16)
phase_offset: 0 (int32)
phase_offset_float: 0.0 (float)
pre_calibrated: False (bool)
sec_enc_cpr: 16384 (int32)
sincos_gpio_pin_cos: 4 (uint16)
sincos_gpio_pin_sin: 3 (uint16)
use_index: False (bool)
use_index_offset: True (bool)
Thank you for your help !