Input_pos always reverts to encoder position, even in closed-loop control with real Iq — firmware 0.5.5, v3.6-56V

Ahsan_Ali · July 7, 2026, 9:23am

Setting axis.controller.input_pos to any value (tested 5.0, 999.0, 3.0) has no lasting effect — reading it back milliseconds later always shows a value nearly identical to axis.encoder.pos_estimate, not the value I set.

Confirmed:

current_state = 8 (genuine closed-loop, confirmed via CAN heartbeat byte too)
axis.motor.current_control.Iq_measured shows real, non-zero current (~1A) — motor is actively holding, not idle
axis.controller.config.control_mode = 3 (position control)
axis.controller.config.input_mode = 1 (passthrough)
circular_setpoints = False
No errors (dump_errors clean)
Reproduced from a completely fresh Python script (not just odrivetool session)
Reproduced after a full hardware power cycle (not just USB reconnect)
Reproduced identically on both axis0 and axis1
Confirmed via candump that no external CAN device is sending Set_Input_Pos — ruling out bus interference

axis.controller.pos_setpoint shows the same behavior — tracks pos_estimate, not my commanded input_pos.

What could cause input_pos to be silently overridden/ignored despite the axis being armed and drawing real current?

solomondg · July 8, 2026, 4:56am

Hi! Can you show a dump of the exact CAN bytes? e.g. candump can0 while sending/receiving. And can you send a full dump of the config, e.g. odrivetool backup-config config.json?

Ahsan_Ali · July 8, 2026, 1:34pm

Here it is:
$ candump can0
can0 009 [8] 08 70 51 BE 00 80 BB BC
can0 029 [8] 40 67 07 BE F6 FF F9 3B
can0 009 [8] C8 83 51 BE 02 80 BB BC
can0 029 [8] 00 71 07 BE 00 00 00 00
can0 009 [8] C8 75 51 BE 01 00 7A BC
can0 029 [8] C0 91 07 BE 01 40 1C BD
can0 009 [8] 88 67 51 BE 07 00 7A 3C
can0 029 [8] 00 7C 07 BE 03 00 7A BC
can0 009 [8] C8 3B 51 BE 00 80 BB 3D
can0 029 [8] C0 74 07 BE 00 00 7A BC
can0 009 [8] 88 65 51 BE 00 80 3B 3D
can0 029 [8] 00 83 07 BE 01 A0 8C BD
can0 009 [8] 08 7E 51 BE FE FF 79 BC
can0 029 [8] C0 75 07 BE 01 80 BB BC
can0 009 [8] 88 5E 51 BE FF FF F9 3C
can0 029 [8] 40 6D 07 BE 00 00 00 00
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] 08 68 51 BE FF FF 79 3C
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] 40 A2 07 BE 00 80 BB BD
can0 009 [8] 48 73 51 BE FC FF 79 BC
can0 029 [8] C0 1D 07 BE 01 60 EA 3D
can0 009 [8] 48 6C 51 BE 01 00 7A 3C
can0 029 [8] C0 6D 07 BE 04 00 FA 3B
can0 009 [8] 48 6A 51 BE 00 00 7A 3C
can0 029 [8] 00 83 07 BE 06 00 FA BC
can0 009 [8] C8 7D 51 BE 01 C0 5A BD
can0 029 [8] 00 7F 07 BE 02 00 7A BC
can0 009 [8] C8 69 51 BE 02 80 BB 3C
can0 029 [8] 40 7A 07 BE 01 40 1C BD
can0 009 [8] 08 65 51 BE 02 80 BB 3C
can0 029 [8] 80 83 07 BE 01 40 1C BD
can0 009 [8] 08 64 51 BE F6 FF F9 BB
can0 029 [8] 00 6C 07 BE 01 80 BB 3C
can0 009 [8] C8 8C 51 BE 02 00 FA BC
can0 029 [8] 00 6D 07 BE 00 00 7A 3C
can0 009 [8] C8 4F 51 BE 02 00 7A 3D
can0 029 [8] 00 70 07 BE 01 00 FA BB
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] 88 5D 51 BE 01 80 3B 3D
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] 80 36 07 BE 01 80 BB 3D
can0 009 [8] 88 9E 51 BE 01 A0 8C BD
can0 029 [8] 40 6D 07 BE 02 00 FA BB
can0 009 [8] 88 64 51 BE 04 00 FA 3B
can0 029 [8] 40 74 07 BE F9 FF F9 BB
can0 009 [8] C8 66 51 BE 00 00 7A 3C
can0 029 [8] 40 82 07 BE 04 80 BB BC
can0 009 [8] 08 79 51 BE FC FF 79 BC
can0 029 [8] C0 70 07 BE 00 00 FA 3B
can0 009 [8] C8 7B 51 BE 02 00 FA BB
can0 029 [8] 80 45 07 BE 01 A0 8C 3D
can0 009 [8] 48 77 51 BE 01 00 FA BB
can0 029 [8] C0 3B 07 BE 01 C0 DA 3D
can0 009 [8] C8 4F 51 BE 00 A0 8C 3D
can0 029 [8] 40 6C 07 BE 01 00 FA BB
can0 009 [8] C8 7B 51 BE 00 80 BB BC
can0 029 [8] 00 85 07 BE 01 00 7A BD
can0 009 [8] 88 60 51 BE 0B 00 FA 3B
can0 029 [8] 80 71 07 BE 02 00 7A BC
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] 08 7C 51 BE 01 00 FA BC
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] 00 7F 07 BE 04 00 FA BC
can0 009 [8] 88 6C 51 BE 00 00 7A 3C
can0 029 [8] 80 4E 07 BE 01 80 3B 3D
can0 009 [8] C8 5D 51 BE 02 00 7A 3C
can0 029 [8] 40 49 07 BE 01 C0 5A 3D
can0 009 [8] 88 78 51 BE 02 00 7A BC
can0 029 [8] 00 66 07 BE 01 00 7A BC
can0 009 [8] 48 94 51 BE 00 C0 5A BD
can0 029 [8] 40 71 07 BE 02 00 7A BC
can0 009 [8] C8 5D 51 BE 01 40 1C 3D
can0 029 [8] 00 68 07 BE FE FF 79 3C
can0 009 [8] C8 67 51 BE FE 7F BB 3C
can0 029 [8] C0 8F 07 BE 00 A0 8C BD
can0 009 [8] 48 70 51 BE 00 00 00 00
can0 029 [8] 40 78 07 BE 03 00 FA BB
can0 009 [8] C8 7C 51 BE 09 00 FA 3B
can0 029 [8] C0 4C 07 BE 02 40 1C 3D
can0 009 [8] 88 5E 51 BE FF 7F 3B 3D
can0 029 [8] C0 61 07 BE 05 00 FA 3B
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] 88 66 51 BE 05 00 7A 3C
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] C0 7F 07 BE 00 40 1C BD
can0 009 [8] 48 78 51 BE 01 40 1C BD
can0 029 [8] C0 66 07 BE 00 40 1C 3D
can0 009 [8] 88 5B 51 BE 00 00 FA 3C
can0 029 [8] 00 85 07 BE 02 80 3B BD
can0 009 [8] C8 72 51 BE 00 00 00 00
can0 029 [8] 40 74 07 BE 02 00 FA BC
can0 009 [8] 48 89 51 BE 01 80 3B BD
can0 029 [8] 40 7F 07 BE FD FF F9 3B
can0 009 [8] C8 68 51 BE 03 00 7A 3C
can0 029 [8] 00 48 07 BE 01 80 3B 3D
can0 009 [8] C8 86 51 BE 00 40 1C BD
can0 029 [8] C0 6E 07 BE 02 80 BB BC
can0 009 [8] C8 70 51 BE FE FF 79 3C
can0 029 [8] 00 42 07 BE 01 A0 8C 3D
can0 009 [8] C8 67 51 BE 01 00 7A 3C
can0 029 [8] C0 63 07 BE 01 00 FA 3C
can0 009 [8] 88 62 51 BE 02 00 FA 3C
can0 029 [8] 40 78 07 BE 02 00 FA BC
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] 88 6A 51 BE 00 00 00 00
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] C0 4E 07 BE 01 40 9C 3D
can0 009 [8] 88 80 51 BE 01 00 7A BC
can0 029 [8] 40 5D 07 BE 00 00 00 00
can0 009 [8] 88 76 51 BE 00 00 00 00
can0 029 [8] 40 6F 07 BE 00 00 00 00
can0 009 [8] C8 5B 51 BE 00 A0 8C 3D
can0 029 [8] 00 72 07 BE 02 80 BB BC
can0 009 [8] 08 7A 51 BE 00 00 00 00
can0 029 [8] C0 54 07 BE 01 E0 AB 3D
can0 009 [8] 48 74 51 BE 01 00 FA BB
can0 029 [8] 80 6A 07 BE 04 00 FA BB
can0 009 [8] C8 87 51 BE 01 40 1C BD
can0 029 [8] 40 43 07 BE 01 E0 AB 3D
can0 009 [8] 08 9B 51 BE 02 80 3B BD
can0 029 [8] 00 5F 07 BE 02 80 3B 3D
can0 009 [8] 48 7B 51 BE 01 00 FA 3B
can0 029 [8] 40 3E 07 BE 01 80 BB 3D
can0 009 [8] 88 54 51 BE 00 40 1C 3D
can0 029 [8] C0 7D 07 BE 02 00 FA BC
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] C8 3D 51 BE 00 E0 AB 3D
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] 00 65 07 BE 01 80 BB BC
can0 009 [8] C8 97 51 BE 02 A0 8C BD
can0 029 [8] 40 50 07 BE 02 80 3B 3D
can0 009 [8] 08 84 51 BE 00 C0 5A BD
can0 029 [8] 00 72 07 BE 04 80 BB BC
can0 009 [8] 48 81 51 BE 01 80 BB BC
can0 029 [8] 80 6A 07 BE 00 00 00 00
can0 009 [8] 08 6C 51 BE FA FF 79 3C
can0 029 [8] 80 52 07 BE FE BF 5A 3D
can0 009 [8] C8 65 51 BE 02 00 7A 3C
can0 029 [8] C0 5B 07 BE FF 7F 3B 3D
can0 009 [8] 08 8D 51 BE 01 C0 5A BD
can0 029 [8] 40 7E 07 BE 03 80 BB BC
can0 009 [8] C8 85 51 BE 01 00 FA BC
can0 029 [8] 80 41 07 BE 00 E0 AB 3D
can0 009 [8] 88 54 51 BE 00 00 7A 3D
can0 029 [8] 00 58 07 BE FE FF 79 3C
can0 009 [8] C8 53 51 BE 01 80 3B 3D
can0 029 [8] C0 64 07 BE 01 00 FA 3C
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] 48 50 51 BE 00 C0 5A 3D
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] 00 7F 07 BE 02 00 7A BC
can0 009 [8] C8 90 51 BE 00 00 FA BC
can0 029 [8] 00 6D 07 BE 00 00 00 00
can0 009 [8] C8 67 51 BE 00 00 00 00
can0 029 [8] 80 91 07 BE 00 A0 8C BD
can0 009 [8] C8 6C 51 BE FF 7F BB 3C
can0 029 [8] 40 49 07 BE 00 C0 DA 3D
can0 009 [8] 48 81 51 BE 01 80 3B BD
can0 029 [8] 80 8C 07 BE 02 00 FA BC
can0 009 [8] 48 7F 51 BE 01 00 FA BB
can0 029 [8] 00 7A 07 BE 01 C0 5A BD
can0 009 [8] 48 7C 51 BE 01 00 FA BB
can0 029 [8] C0 60 07 BE FE FF 79 3C
can0 009 [8] 88 4E 51 BE 01 40 9C 3D
can0 029 [8] 80 55 07 BE 00 80 BB 3C
can0 009 [8] 08 5A 51 BE 00 80 3B 3D
can0 029 [8] 00 71 07 BE 07 00 FA BB
can0 009 [8] 48 6E 51 BE 00 00 00 00
can0 029 [8] 00 70 07 BE 00 00 00 00
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] 88 78 51 BE 04 00 FA BB
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] 80 61 07 BE FF 7F BB 3C
can0 009 [8] 88 76 51 BE FA FF 79 3C
can0 029 [8] C0 4E 07 BE 00 80 3B 3D
can0 009 [8] C8 76 51 BE 02 80 BB BC
can0 029 [8] 40 81 07 BE 02 80 3B BD
can0 009 [8] 88 72 51 BE FB FF 79 3C
can0 029 [8] 00 8E 07 BE 01 40 9C BD
can0 009 [8] 48 6B 51 BE 01 80 BB 3C
can0 029 [8] C0 80 07 BE 02 C0 5A BD
can0 009 [8] 08 7A 51 BE 01 00 7A BC
can0 029 [8] C0 73 07 BE 00 40 1C BD
can0 009 [8] 88 52 51 BE 02 C0 5A 3D
can0 029 [8] 40 82 07 BE 00 40 1C BD
can0 009 [8] 48 90 51 BE 01 00 7A BD
can0 029 [8] 40 7E 07 BE 00 80 3B BD
can0 009 [8] 08 4C 51 BE 00 80 3B 3D
can0 029 [8] C0 64 07 BE 06 00 FA BB
can0 009 [8] C8 77 51 BE 0D 00 FA 3B
can0 029 [8] 00 77 07 BE 00 00 FA BC
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] 88 5B 51 BE 05 00 FA 3B
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] 00 4E 07 BE 01 40 1C 3D
can0 009 [8] 48 70 51 BE F8 FF F9 BB
can0 029 [8] 00 44 07 BE 02 00 7A 3D
can0 009 [8] 08 82 51 BE 00 00 FA BC
can0 029 [8] 40 5E 07 BE 00 80 BB 3C
can0 009 [8] 48 46 51 BE 02 00 7A 3D
can0 029 [8] 00 82 07 BE 00 C0 5A BD
can0 009 [8] 48 6E 51 BE FE 7F BB 3C
can0 029 [8] C0 81 07 BE FE FF 79 BC
can0 009 [8] 08 47 51 BE 01 40 9C 3D
can0 029 [8] 40 88 07 BE 00 C0 5A BD
can0 009 [8] 48 56 51 BE 00 C0 5A 3D
can0 029 [8] 80 7A 07 BE 01 80 3B BD
can0 009 [8] C8 8A 51 BE 02 C0 5A BD
can0 029 [8] 40 6E 07 BE 01 00 FA BB
can0 009 [8] 08 6E 51 BE FE FF 79 BC
can0 029 [8] 40 77 07 BE 07 00 7A BC
can0 009 [8] 88 67 51 BE 01 80 3B 3D
can0 029 [8] 80 5C 07 BE 02 80 BB 3C
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] 48 4E 51 BE 00 C0 5A 3D
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] C0 6C 07 BE 02 00 FA 3B
can0 009 [8] 08 60 51 BE 01 00 FA 3B
can0 029 [8] 40 64 07 BE 0A 00 FA 3B
can0 009 [8] 48 8C 51 BE 01 40 1C BD
can0 029 [8] 40 4D 07 BE 01 40 9C 3D
can0 009 [8] 08 71 51 BE 00 80 BB 3C
can0 029 [8] 80 77 07 BE 03 00 FA BB
can0 009 [8] 08 6C 51 BE FF 7F 3B 3D
can0 029 [8] C0 7B 07 BE 02 00 7A BC
can0 009 [8] C8 71 51 BE 0F 00 FA 3B
can0 029 [8] 80 49 07 BE 01 C0 5A 3D
can0 009 [8] C8 98 51 BE 01 A0 8C BD
can0 029 [8] C0 6D 07 BE 02 80 BB 3C
can0 009 [8] 08 6E 51 BE 01 00 7A BC
can0 029 [8] 40 6F 07 BE 01 80 BB BC
can0 009 [8] 88 75 51 BE 01 00 FA 3B
can0 029 [8] 80 43 07 BE 01 40 9C 3D
can0 009 [8] C8 93 51 BE 02 C0 5A BD
can0 029 [8] 80 46 07 BE 01 C0 5A 3D
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] 88 75 51 BE 02 00 FA 3B
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] 00 89 07 BE 01 A0 8C BD
can0 009 [8] 88 65 51 BE 02 40 1C 3D
can0 029 [8] 80 74 07 BE FE FF 79 BC
can0 009 [8] 08 5E 51 BE 01 80 3B 3D
can0 029 [8] 80 A6 07 BE 01 E0 AB BD
can0 009 [8] C8 9A 51 BE 01 00 7A BD
can0 029 [8] 40 54 07 BE 00 80 BB 3C
can0 009 [8] 08 5C 51 BE 00 00 7A 3D
can0 029 [8] 40 7A 07 BE 0C 00 7A BC
can0 009 [8] 08 62 51 BE FF 3F 1C 3D
can0 029 [8] 40 48 07 BE 02 C0 5A 3D
can0 009 [8] 48 51 51 BE 00 40 9C 3D
can0 029 [8] 80 6E 07 BE FA FF 79 BC
can0 009 [8] 08 61 51 BE 00 40 1C 3D
can0 029 [8] C0 93 07 BE 02 C0 5A BD
can0 009 [8] C8 8C 51 BE 02 00 7A BD
can0 029 [8] C0 5F 07 BE FF 7F BB 3C
can0 009 [8] 88 7F 51 BE FC FF F9 BB
can0 029 [8] 00 69 07 BE 00 00 00 00
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] 88 60 51 BE 03 00 7A 3C
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] 40 7E 07 BE 02 00 FA BC
can0 009 [8] 88 79 51 BE 00 00 00 00
can0 029 [8] 00 7A 07 BE 02 00 7A BC
can0 009 [8] 08 58 51 BE 00 C0 5A 3D
can0 029 [8] 40 77 07 BE 00 40 1C BD
can0 009 [8] 48 7D 51 BE 06 00 7A BC
can0 029 [8] 80 72 07 BE 04 00 FA 3B
can0 009 [8] C8 4C 51 BE 00 C0 5A 3D
can0 029 [8] 00 6E 07 BE 00 00 00 00
can0 009 [8] 08 47 51 BE 00 E0 AB 3D
can0 029 [8] 40 6E 07 BE 00 00 00 00
can0 009 [8] 88 89 51 BE FF BF 5A BD
can0 029 [8] 80 63 07 BE 01 00 FA BB
can0 009 [8] 88 6B 51 BE FF 3F 1C 3D
can0 029 [8] 00 74 07 BE 09 00 FA 3B
can0 009 [8] 88 85 51 BE 03 80 BB BC
can0 029 [8] C0 4F 07 BE 02 C0 5A 3D
can0 009 [8] 08 53 51 BE 00 00 7A 3D
can0 029 [8] C0 67 07 BE 0A 00 FA 3B
can0 001 [8] 00 02 00 00 01 00 00 80
can0 009 [8] 88 7E 51 BE 00 00 FA BC
can0 021 [8] 00 02 00 00 01 00 00 80
can0 029 [8] 80 63 07 BE 03 00 FA BB
can0 009 [8] 48 57 51 BE 00 C0 5A 3D
can0 029 [8] 40 8A 07 BE 02 C0 5A BD
can0 009 [8] 08 75 51 BE 00 00 00 00
can0 029 [8] 00 5F 07 BE 01 80 3B 3D
can0 009 [8] 08 7B 51 BE FF 7F BB BC
can0 029 [8] 00 79 07 BE 02 40 1C BD
can0 009 [8] C8 73 51 BE 04 00 7A 3C
can0 029 [8] 00 74 07 BE 00 00 00 00
can0 009 [8] C8 7E 51 BE 03 00 7A BC
can0 029 [8] C0 6C 07 BE 02 00 7A 3C
can0 009 [8] 48 66 51 BE 00 00 7A 3C
can0 029 [8] 40 73 07 BE 02 00 7A BC
can0 009 [8] 48 82 51 BE 01 00 7A BD

and SyntaxError: JSON.parse: unexpected character at line 121 column 36 of the JSON data

{
“can.config.baud_rate”: 250000,
“can.config.protocol”: 1,
“config.enable_uart_a”: true,
“config.enable_uart_b”: false,
“config.enable_uart_c”: false,
“config.uart_a_baudrate”: 115200,
“config.uart_b_baudrate”: 115200,
“config.uart_c_baudrate”: 115200,
“config.enable_can_a”: true,
“config.enable_i2c_a”: false,
“config.usb_cdc_protocol”: 3,
“config.uart0_protocol”: 3,
“config.uart1_protocol”: 3,
“config.uart2_protocol”: 3,
“config.max_regen_current”: 40.0,
“config.brake_resistance”: 2.0,
“config.enable_brake_resistor”: false,
“config.dc_bus_undervoltage_trip_level”: 8.0,
“config.dc_bus_overvoltage_trip_level”: 59.92000198364258,
“config.enable_dc_bus_overvoltage_ramp”: false,
“config.dc_bus_overvoltage_ramp_start”: 59.92000198364258,
“config.dc_bus_overvoltage_ramp_end”: 59.92000198364258,
“config.dc_max_positive_current”: 30.0,
“config.dc_max_negative_current”: -15.0,
“config.error_gpio_pin”: 0,
“config.gpio3_analog_mapping.endpoint”: null,
“config.gpio3_analog_mapping.min”: 0.0,
“config.gpio3_analog_mapping.max”: 0.0,
“config.gpio4_analog_mapping.endpoint”: null,
“config.gpio4_analog_mapping.min”: 0.0,
“config.gpio4_analog_mapping.max”: 0.0,
“config.gpio1_mode”: 4,
“config.gpio2_mode”: 4,
“config.gpio3_mode”: 3,
“config.gpio4_mode”: 3,
“config.gpio5_mode”: 3,
“config.gpio6_mode”: 0,
“config.gpio7_mode”: 0,
“config.gpio8_mode”: 0,
“config.gpio9_mode”: 11,
“config.gpio10_mode”: 11,
“config.gpio11_mode”: 2,
“config.gpio12_mode”: 12,
“config.gpio13_mode”: 12,
“config.gpio14_mode”: 2,
“config.gpio15_mode”: 7,
“config.gpio16_mode”: 7,
“config.gpio1_pwm_mapping.endpoint”: null,
“config.gpio1_pwm_mapping.min”: 0.0,
“config.gpio1_pwm_mapping.max”: 0.0,
“config.gpio2_pwm_mapping.endpoint”: null,
“config.gpio2_pwm_mapping.min”: 0.0,
“config.gpio2_pwm_mapping.max”: 0.0,
“config.gpio3_pwm_mapping.endpoint”: null,
“config.gpio3_pwm_mapping.min”: 0.0,
“config.gpio3_pwm_mapping.max”: 0.0,
“config.gpio4_pwm_mapping.endpoint”: null,
“config.gpio4_pwm_mapping.min”: 0.0,
“config.gpio4_pwm_mapping.max”: 0.0,
“axis0.config.startup_motor_calibration”: false,
“axis0.config.startup_encoder_index_search”: false,
“axis0.config.startup_encoder_offset_calibration”: false,
“axis0.config.startup_closed_loop_control”: false,
“axis0.config.startup_homing”: false,
“axis0.config.enable_step_dir”: false,
“axis0.config.step_dir_always_on”: false,
“axis0.config.enable_sensorless_mode”: false,
“axis0.config.watchdog_timeout”: 0.0,
“axis0.config.enable_watchdog”: false,
“axis0.config.step_gpio_pin”: 1,
“axis0.config.dir_gpio_pin”: 2,
“axis0.config.calibration_lockin.current”: 10.0,
“axis0.config.calibration_lockin.ramp_time”: 0.4000000059604645,
“axis0.config.calibration_lockin.ramp_distance”: 3.1415927410125732,
“axis0.config.calibration_lockin.accel”: 20.0,
“axis0.config.calibration_lockin.vel”: 40.0,
“axis0.config.sensorless_ramp.current”: 10.0,
“axis0.config.sensorless_ramp.ramp_time”: 0.4000000059604645,
“axis0.config.sensorless_ramp.ramp_distance”: 3.1415927410125732,
“axis0.config.sensorless_ramp.accel”: 200.0,
“axis0.config.sensorless_ramp.vel”: 400.0,
“axis0.config.sensorless_ramp.finish_distance”: 100.0,
“axis0.config.sensorless_ramp.finish_on_vel”: true,
“axis0.config.sensorless_ramp.finish_on_distance”: false,
“axis0.config.sensorless_ramp.finish_on_enc_idx”: false,
“axis0.config.general_lockin.current”: 10.0,
“axis0.config.general_lockin.ramp_time”: 0.4000000059604645,
“axis0.config.general_lockin.ramp_distance”: 3.1415927410125732,
“axis0.config.general_lockin.accel”: 20.0,
“axis0.config.general_lockin.vel”: 40.0,
“axis0.config.general_lockin.finish_distance”: 100.0,
“axis0.config.general_lockin.finish_on_vel”: false,
“axis0.config.general_lockin.finish_on_distance”: false,
“axis0.config.general_lockin.finish_on_enc_idx”: false,
“axis0.config.can.node_id”: 0,
“axis0.config.can.is_extended”: false,
“axis0.config.can.heartbeat_rate_ms”: 100,
“axis0.config.can.encoder_rate_ms”: 10,
“axis0.motor.fet_thermistor.config.temp_limit_lower”: 100.0,
“axis0.motor.fet_thermistor.config.temp_limit_upper”: 120.0,
“axis0.motor.fet_thermistor.config.enabled”: true,
“axis0.motor.motor_thermistor.config.gpio_pin”: 4,
“axis0.motor.motor_thermistor.config.poly_coefficient_0”: 0.0,
“axis0.motor.motor_thermistor.config.poly_coefficient_1”: 0.0,
“axis0.motor.motor_thermistor.config.poly_coefficient_2”: 0.0,
“axis0.motor.motor_thermistor.config.poly_coefficient_3”: 0.0,
“axis0.motor.motor_thermistor.config.temp_limit_lower”: 100.0,
“axis0.motor.motor_thermistor.config.temp_limit_upper”: 120.0,
“axis0.motor.motor_thermistor.config.enabled”: false,
“axis0.motor.config.pre_calibrated”: true,
“axis0.motor.config.pole_pairs”: 20,
“axis0.motor.config.calibration_current”: 10.0,
“axis0.motor.config.resistance_calib_max_voltage”: 2.0,
“axis0.motor.config.phase_inductance”: 1.6579781004111283e-05,
“axis0.motor.config.phase_resistance”: 0.06510251760482788,
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“axis0.controller.config.control_mode”: 3,
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“axis0.controller.config.vel_ramp_rate”: 1.0,
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“axis0.encoder.config.hall_polarity”: 0,
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“axis0.encoder.config.sincos_gpio_pin_sin”: 3,
“axis0.encoder.config.sincos_gpio_pin_cos”: 4,
“axis0.acim_estimator.config.slip_velocity”: 14.706000328063965,
“axis0.sensorless_estimator.config.observer_gain”: 1000.0,
“axis0.sensorless_estimator.config.pll_bandwidth”: 1000.0,
“axis0.sensorless_estimator.config.pm_flux_linkage”: 0.0015800000401213765,
“axis0.trap_traj.config.vel_limit”: 2.0,
“axis0.trap_traj.config.accel_limit”: 0.5,
“axis0.trap_traj.config.decel_limit”: 0.5,
“axis0.min_endstop.config.gpio_num”: 0,
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“axis0.max_endstop.config.gpio_num”: 0,
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“axis0.mechanical_brake.config.gpio_num”: 0,
“axis0.mechanical_brake.config.is_active_low”: true,
“axis1.config.startup_motor_calibration”: false,
“axis1.config.startup_encoder_index_search”: false,
“axis1.config.startup_encoder_offset_calibration”: false,
“axis1.config.startup_closed_loop_control”: false,
“axis1.config.startup_homing”: false,
“axis1.config.enable_step_dir”: false,
“axis1.config.step_dir_always_on”: false,
“axis1.config.enable_sensorless_mode”: false,
“axis1.config.watchdog_timeout”: 0.0,
“axis1.config.enable_watchdog”: false,
“axis1.config.step_gpio_pin”: 7,
“axis1.config.dir_gpio_pin”: 8,
“axis1.config.calibration_lockin.current”: 10.0,
“axis1.config.calibration_lockin.ramp_time”: 0.4000000059604645,
“axis1.config.calibration_lockin.ramp_distance”: 3.1415927410125732,
“axis1.config.calibration_lockin.accel”: 20.0,
“axis1.config.calibration_lockin.vel”: 40.0,
“axis1.config.sensorless_ramp.current”: 10.0,
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“axis1.config.sensorless_ramp.accel”: 200.0,
“axis1.config.sensorless_ramp.vel”: 400.0,
“axis1.config.sensorless_ramp.finish_distance”: 100.0,
“axis1.config.sensorless_ramp.finish_on_vel”: true,
“axis1.config.sensorless_ramp.finish_on_distance”: false,
“axis1.config.sensorless_ramp.finish_on_enc_idx”: false,
“axis1.config.general_lockin.current”: 10.0,
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“axis1.config.general_lockin.accel”: 20.0,
“axis1.config.general_lockin.vel”: 40.0,
“axis1.config.general_lockin.finish_distance”: 100.0,
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“axis1.config.general_lockin.finish_on_distance”: false,
“axis1.config.general_lockin.finish_on_enc_idx”: false,
“axis1.config.can.node_id”: 1,
“axis1.config.can.is_extended”: false,
“axis1.config.can.heartbeat_rate_ms”: 100,
“axis1.config.can.encoder_rate_ms”: 10,
“axis1.motor.fet_thermistor.config.temp_limit_lower”: 100.0,
“axis1.motor.fet_thermistor.config.temp_limit_upper”: 120.0,
“axis1.motor.fet_thermistor.config.enabled”: true,
“axis1.motor.motor_thermistor.config.gpio_pin”: 4,
“axis1.motor.motor_thermistor.config.poly_coefficient_0”: 0.0,
“axis1.motor.motor_thermistor.config.poly_coefficient_1”: 0.0,
“axis1.motor.motor_thermistor.config.poly_coefficient_2”: 0.0,
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“axis1.motor.config.pole_pairs”: 20,
“axis1.motor.config.calibration_current”: 10.0,
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“axis1.motor.config.current_lim”: 0.0,
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“axis1.motor.config.torque_lim”: Infinity,
“axis1.motor.config.inverter_temp_limit_lower”: 100.0,
“axis1.motor.config.inverter_temp_limit_upper”: 120.0,
“axis1.motor.config.requested_current_range”: 40.0,
“axis1.motor.config.current_control_bandwidth”: 1000.0,
“axis1.motor.config.acim_gain_min_flux”: 10.0,
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“axis1.motor.config.acim_autoflux_attack_gain”: 10.0,
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“axis1.motor.config.bEMF_FF_enable”: false,
“axis1.motor.config.I_bus_hard_min”: -Infinity,
“axis1.motor.config.I_bus_hard_max”: Infinity,
“axis1.motor.config.I_leak_max”: 0.10000000149011612,
“axis1.motor.config.dc_calib_tau”: 0.20000000298023224,
“axis1.controller.config.gain_scheduling_width”: 10.0,
“axis1.controller.config.enable_vel_limit”: true,
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“axis1.controller.config.enable_overspeed_error”: true,
“axis1.controller.config.control_mode”: 3,
“axis1.controller.config.input_mode”: 1,
“axis1.controller.config.pos_gain”: 20.0,
“axis1.controller.config.vel_gain”: 0.1599999964237213,
“axis1.controller.config.vel_integrator_gain”: 0.3199999928474426,
“axis1.controller.config.vel_integrator_limit”: Infinity,
“axis1.controller.config.vel_limit”: 1.401298464324817e-45,
“axis1.controller.config.vel_limit_tolerance”: 1.2000000476837158,
“axis1.controller.config.vel_ramp_rate”: 1.0,
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“axis1.controller.config.circular_setpoints”: false,
“axis1.controller.config.circular_setpoint_range”: 1.0,
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“axis1.controller.config.homing_speed”: 0.25,
“axis1.controller.config.inertia”: 0.0,
“axis1.controller.config.axis_to_mirror”: 255,
“axis1.controller.config.mirror_ratio”: 1.0,
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“axis1.controller.config.load_encoder_axis”: 1,
“axis1.controller.config.input_filter_bandwidth”: 2.0,
“axis1.controller.config.anticogging.index”: 0,
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“axis1.controller.config.anticogging.calib_anticogging”: true,
“axis1.controller.config.anticogging.calib_pos_threshold”: 1.0,
“axis1.controller.config.anticogging.calib_vel_threshold”: 1.0,
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“axis1.controller.config.mechanical_power_bandwidth”: 20.0,
“axis1.controller.config.electrical_power_bandwidth”: 20.0,
“axis1.controller.config.spinout_mechanical_power_threshold”: -10.0,
“axis1.controller.config.spinout_electrical_power_threshold”: 10.0,
“axis1.encoder.config.mode”: 257,
“axis1.encoder.config.use_index”: false,
“axis1.encoder.config.index_offset”: 0.0,
“axis1.encoder.config.use_index_offset”: true,
“axis1.encoder.config.find_idx_on_lockin_only”: false,
“axis1.encoder.config.abs_spi_cs_gpio_pin”: 4,
“axis1.encoder.config.cpr”: 16384,
“axis1.encoder.config.phase_offset”: 5043,
“axis1.encoder.config.phase_offset_float”: 1.2020877599716187,
“axis1.encoder.config.direction”: 1,
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“axis1.encoder.config.enable_phase_interpolation”: true,
“axis1.encoder.config.bandwidth”: 1000.0,
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“axis1.encoder.config.ignore_illegal_hall_state”: false,
“axis1.encoder.config.hall_polarity”: 0,
“axis1.encoder.config.hall_polarity_calibrated”: false,
“axis1.encoder.config.sincos_gpio_pin_sin”: 3,
“axis1.encoder.config.sincos_gpio_pin_cos”: 4,
“axis1.acim_estimator.config.slip_velocity”: 14.706000328063965,
“axis1.sensorless_estimator.config.observer_gain”: 1000.0,
“axis1.sensorless_estimator.config.pll_bandwidth”: 1000.0,
“axis1.sensorless_estimator.config.pm_flux_linkage”: 0.002756644506007433,
“axis1.trap_traj.config.vel_limit”: 2.0,
“axis1.trap_traj.config.accel_limit”: 0.5,
“axis1.trap_traj.config.decel_limit”: 0.5,
“axis1.min_endstop.config.gpio_num”: 0,
“axis1.min_endstop.config.enabled”: false,
“axis1.min_endstop.config.offset”: 0.0,
“axis1.min_endstop.config.is_active_high”: false,
“axis1.min_endstop.config.debounce_ms”: 50,
“axis1.max_endstop.config.gpio_num”: 0,
“axis1.max_endstop.config.enabled”: false,
“axis1.max_endstop.config.offset”: 0.0,
“axis1.max_endstop.config.is_active_high”: false,
“axis1.max_endstop.config.debounce_ms”: 50,
“axis1.mechanical_brake.config.gpio_num”: 0,
“axis1.mechanical_brake.config.is_active_low”: true
}

solomondg · July 8, 2026, 4:17pm

That candump shows the axis in idle with a latched error – can you show the one from when you’re commanding the new setpoints (while in closed loop) and reading back the new input pos?

As well, are you repeatedly setting the axis into closed loop while also sending the position setpoints? If so, that may be the issue, as setting it into closed loop (even if it’s already in closed loop) resets input_pos to the pos_estimate.