Illegal hall state Odrive Pro

Hi, i’m working on an Odrive Pro version and i try to control the velocity of a motor.

The motor I used is a BLDC motor with an Hall effect encoder. I connected the pins of the encoder on the ODrive Pro and the Motor phases but i have troubles with an illegal_hall_state error after encoder polarity callibration :


Also this motor was working correctly on the axes1 on the normal Odrive but result on an illegal_hall_state_error on axes0.

I read some topics on this type of errors but I don’t look one of that on the Odrive Pro. Thank you in advance for your response.

Try setting ignore_illegal_hall_state = True ODrive Reference — ODrive Pro Documentation beta documentation

I changed it to True by the commandline :

odrv0.hall_encoder0.config.ignore_illegal_hall_state = True

I also tried to change encoder1 to True, but I have the same error.

And when I start the closed control loop state, a motor error appears :

UKNOWN_PHASE_ESTIMATE means you haven’t done the encoder offset calibration yet.

I did it before requested the closed loop control and it runs with success, but I still have this error when I start the closed loop control.