M0 fails calibration, M1 completes w/ same setup

Support
1

I have four ODrives (v3.6). On each one, using the same settings and same motor, the M1 completes calibration perfectly while the M0 fails to calibrate with the error:

MotorError.UNKOWN_CURRENT_MEASUREMENT

Again, same wiring, same motor, same settings starting from erase_configuration. Any insight is greatly appreciated.

2

Hmm, super interesting! Could you post a picture of your wiring, and all of your configuration (from erase_configuration)?

3

Sure. I’ve disconnected everything except a single motor while I’m troubleshooting.

IMG_2576
IMG_25761920×1301 393 KB

IMG_2577
IMG_25771920×841 229 KB

And here’s the code I use to calibrate, replacing axis0 with axis1 when calibrating each, with the exact same settings otherwise.

odrv0.erase_configuration()

odrv0.config.enable_brake_resistor = True
odrv0.config.brake_resistance = 2

odrv0.axis1.motor.config.current_lim = 25
odrv0.axis1.motor.config.requested_current_range = 25
odrv0.axis1.motor.config.pole_pairs = 15
odrv0.axis1.motor.config.torque_constant = 8.27 / 16
odrv0.axis1.motor.config.motor_type = MOTOR_TYPE_HIGH_CURRENT
odrv0.axis1.motor.config.resistance_calib_max_voltage = 10
odrv0.axis1.motor.config.current_control_bandwidth = 150
odrv0.axis1.motor.config.calibration_current = 5

odrv0.config.dc_max_positive_current = 25
odrv0.config.dc_max_negative_current = -0.01
#odrv0.config.dc_bus_undervoltage_trip_level = 10
#odrv0.config.dc_bus_overvoltage_trip_level = 40

odrv0.save_configuration()

odrv0.axis1.encoder.config.mode = ENCODER_MODE_HALL
odrv0.axis1.encoder.config.cpr = 90
odrv0.axis1.encoder.config.calib_scan_distance = 150
odrv0.axis1.encoder.config.bandwidth = 100

odrv0.save_configuration()

odrv0.axis1.controller.config.vel_limit = 10
odrv0.axis1.controller.input_pos = 1
odrv0.axis1.controller.config.vel_gain = (0.02 
	* odrv0.axis1.motor.config.torque_constant 
	* odrv0.axis1.encoder.config.cpr)
odrv0.axis1.controller.config.vel_integrator_gain = (0.1 
	* odrv0.axis1.motor.config.torque_constant 
	* odrv0.axis1.encoder.config.cpr)
odrv0.axis1.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL

odrv0.save_configuration()

odrv0.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
odrv0.axis1.motor.config.pre_calibrated = True
odrv0.axis1.encoder.config.pre_calibrated = True

odrv0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis0.config.startup_closed_loop_control = True
odrv0.axis1.config.startup_closed_loop_control = True

odrv0.save_configuration()
odrv0.reboot()

And with each of the four boards, I get the same result: M1 calibrates successfully and M0 fails with

dump_errors(odrv0)
system: no error
axis0
  axis: Error(s):
    AxisError.MOTOR_FAILED
  motor: Error(s):
    MotorError.UNKNOWN_CURRENT_MEASUREMENT
  DRV fault: none
  sensorless_estimator: no error
  encoder: no error
  controller: no error
axis1
  axis: no error
  motor: no error
  DRV fault: none
  encoder: no error
  controller: no error

Thanks for your help.