Help Needed: Motor Not Spinning Properly After Calibration (ODrive v3.6 + 5065 BLDC)

1

Hi everyone,

I’m new to ODrive and currently setting up my first project using the ODrive v3.6 (24V version) with a 5065 270KV BLDC motor and AMT102 encoder. I’ve followed the setup instructions on the documentation and completed the wiring, but I’m running into issues during calibration and control.

The calibration process seems to go through without throwing any major errors, but the motor either doesn’t spin at all or spins erratically when I try to send position or velocity commands. Sometimes it makes a buzzing sound and just twitches slightly. I’ve verified encoder wiring and used odrv0.axis0.encoder.shadow_count and pos_estimate to confirm it’s reading values during manual rotation, so I think the encoder is functioning.

Here are a few things I’ve already tried:

  • Rechecked motor wiring and phase connections
  • Adjusted current limits (motor.config.current_lim)
  • Tried both CTRL_MODE_POSITION_CONTROL and CTRL_MODE_VELOCITY_CONTROL
  • Ran full calibration sequence using odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE

I suspect it might be an issue with either motor tuning parameters or the encoder CPR config, but I’m not sure. Could someone please guide me on what specific parameters I should be double-checking or tweaking?

Any advice, or shared experiences with a similar motor/ODrive setup, would be greatly appreciated. I’m happy to provide dump power bi course in bangalore settings if needed.

Thanks in advance!

2

Hi! Could be one of three issues:

  1. Improper motor calibration. Your motor needs to be completely unloaded (nothing attached, no gearbox or anything) when doing calibration, and I generally recommend raising odrv0.axis0.config.calibration_lockin.current to about 75% of the maximum continuous current of your motor (which would usually be about 30A for a 270KV 5065).
  2. Slipping encoder – if your encoder is improperly mounted, this would definitely cause an issue. Feel free to send some pictures of your encoder mounting, and I can take a look.
  3. You may need to tune your PID gains, see here: Control Structure and Tuning — ODrive Documentation 0.5.6 documentation

If I had to guess, it’s likely (1) and/or (2).