Hall Effect Counts Per Revolution Error

#1

Hello all,

I’m trying to get a 24V odrive to work with a Maxon 500269 Brushless Motor with embedded hall effect sensors. As was detailed in another forum post about getting hoverboard motors to work with hall effect sensors, I set the encoder to hall effect mode, and the CPR to 66 (6 * 11 pole pairs). However, every time I try to calibrate the motor, it stops after the forward rotation, and throws a CPR out of range error. I experimented with numerous other CPR combinations just to check (11, 6, 33, 3), but all of them kept throwing the same error. Can anyone help me with this?

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#2

One way to solve this is to increase the calibration range (config_.calib_range) until it passes without throwing the CPR error. Then work back from there to find the correct CPR value.

 if(fabsf(actual_encoder_delta_abs - expected_encoder_delta)/expected_encoder_delta > config_.calib_range)
    {
        set_error(ERROR_CPR_OUT_OF_RANGE);
        return false;
    }
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