We have a 5208 Gimbal motor connected to the odrive, which we put in gimbal mode. We wonder what exactly is gimbal mode? How is it different from regular modes? We had hoped to do torque/current control for a haptics/robotics application, but realize from the documentation this may not be possible.
We were hoping to get some current measurements from the controller but it seems like the function does not work. In current control mode, everything seemed to be working correctly. Our motor was moving when we sent these commands. Is there a reason we always get 0.0A as the measurement?
In : odrv0.axis0.controller.current_setpoint = 0.5 In : odrv0.axis0.motor.current_control.Iq_measured Out: 0.0 In : odrv0.axis0.motor.current_control.Iq_measured Out: 0.0 In : odrv0.axis0.motor.current_control.Iq_measured Out: 0.0 In : odrv0.axis0.motor.current_control.Iq_setpoint Out: 0.0
We’re not experts on motor drives, but wonder where the gimbal mode is on the spectrum from stepper control, through encoder based commutation BLDC control, to the more flexile options of Field Oriented Control.
Rafaella and Martin