Hi, I’m using rc-v0.5.1 to configure the absolute encoder, but there’s something wrong with it. I can read the absolute encoder’s degree, but I failed in the closed loop control. Here is what I did in the configuration:
#step1:
odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION
odrv0.axis0.motor.config.pre_calibrated = True
odrv0.save_configuration()
odrv0.reboot()
#step2:
odrv0.axis0.encoder.config.abs_spi_cs_gpio_pin = 1
odrv0.axis0.encoder.config.mode = 0x101
odrv0.axis0.encoder.config.cpr = 2**14
odrv0.save_configuration()
odrv0.reboot()
#step3:
odrv0.axis0.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
odrv0.axis0.encoder.config.pre_calibrated = True
odrv0.save_configuration()
odrv0.reboot()
#step4:
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
No error was reported in the previous 3 steps, and I can read the corret encoder degree, but I failed in step4:
axis: Error(s):
ERROR_MOTOR_DISARMED
motor: Error(s):
ERROR_CONTROL_DEADLINE_MISSED
encoder: no error
controller: no error
I don’t know where is wrong. Can anyone help me? Thank you.