We have a 24VDC motor, load is 9Nm, torque constant is 0.957 Nm/A, we want to make the motor turn a quarter within 120ms, we see from software (below screens) that the motor accelerates to 150RPM in 20ms, then keep at 150RPM for 80ms, then decelerates to stop in 20ms. Question is that the Iq during acceleration seems right about 20A, but after acceleration it should drop to around 9A for 80ms to keep 150RPM with 9Nm load, however the software shows it is still around 17A. Can you shine a light on the Iq calculation from FOC?
The GUI samples at variable rates, depending on your computer’s speed. For capturing data during high speed movements like these, I’d definitely recommend instead using the high-rate capture feature of ODrivetool, which lets you capture variables at the native 8kHz loop rate: odrivetool — ODrive Documentation 0.6.12 documentation