Holding position performance


#1

https://www.youtube.com/watch?v=p4ltHDpxrbI so what happened at around 10:35? Is that the motor and parameters are not configured properly or it’s a firmware issue that can not be resolved or improved easily?


#2

He didn’t do any tuning, so yeah the parameters are not configured properly. If done properly it would be rock solid.


#3

That exact video was how I discovered Odrive. I love that guy, he has some excellent YT videos and he’s very knowledgeable…EXCEPT when it comes to tuning a servo loop. I actually was quite frustrated by this because it conveys the wrong impression.
He has another example where the axis is oscillating like crazy…he was using P and FULL TIME I and stated that the D term is hardly ever used!!! I corrected him in the comments on this one…Heck it’s P&D in every case, in my experience and I only ever introduce the integral with the axis at steady state.