Input pos change while motor moving leads to current limit violation

1

Commanding a new input pos (In a forever while lopp) while motor is moving towards a particular setpoint leads to current limit violation. I confirm that I am not changing the direction of rotation.

Eg: if setpoint is 600, In the loop its giving it a setpoint of 800 or 400 when the motor is still very far away from the setpoint.

Not sure why this happens. Also in the loop if I check the input position, the value would report something other than the position it would’ve been commanded.

2

Hi any updates to this? Can you confirm if changing the input_pos in the position control mode while the odrive is moving towards a setpoint is allowed?

The question is in the same direction.

3

Didn’t this question get answered on another thread? Feel like I’ve answered it already…

Yes, it’s absolutely allowed. In fact streaming inout_pos is the preferred control method.