I need help solving encoder error cpr polepairs mismatch

Support
1

Hello,
i have two motors and one encoder (8192 cpr).
on motor (same encoder attached) - not working.
when on AXIS_STATE_FULL_CALIBRATION_SEQUENCE, the motor turns only in one direction) instead of both and on dump errors(odrv0,True) I get ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH .

I have set odrv0.axis0.motor.config.pole_pairs = 7.
I have encoder.config.pre_calibrated set to True

I have tried setting odrv0.axis0.encoder.config.calib_range to 0.05 and 0.2 and 0.5 - no help there…
what else should I change to get it to work?
i have read everything i have found on this issue. made a save configuration and reboot.

2

Which encoder and motor is it specifically?

3

i use enconder CUIAMT10E2 and motor D5065-270KV

4

I looked up the CUI AMT10E2 and it says 5120 ppr, not 8192. This is likely to be your problem.

5

The CPR of AMT10E2 is 20480.

1 Like
6

I’ve tried to change the cpr but still not working.