Hi,
I’ve succesfully configured my ODrive and motor, I’ve run the full calibration sequence and that motor rotated a little as expected. Bit now when I want to put it in closed loop control it does nothing, lituarly nothing
Cheers Stijn
Hi,
I’ve succesfully configured my ODrive and motor, I’ve run the full calibration sequence and that motor rotated a little as expected. Bit now when I want to put it in closed loop control it does nothing, lituarly nothing
Cheers Stijn
Hi,
0x101
Cheers Stijn
Can you , please, share odrv0.axis0?
Thanks
ODrive control utility v0.4.1
Please connect your ODrive.
You can also type help() or quit().
Connected to ODrive 206435823748 as odrv0
In [1]: odrv0
Out[1]:
vbus_voltage = 29.69677734375 (float)
serial_number = 206435823748 (int)
hw_version_major = 3 (int)
hw_version_minor = 5 (int)
hw_version_variant = 48 (int)
fw_version_major = 0 (int)
fw_version_minor = 4 (int)
fw_version_revision = 1 (int)
fw_version_unreleased = 0 (int)
user_config_loaded = True (bool)
brake_resistor_armed = True (bool)
system_stats:
uptime = 57958 (int)
min_heap_space = 18264 (int)
min_stack_space_axis0 = 7868 (int)
min_stack_space_axis1 = 7868 (int)
min_stack_space_comms = 8468 (int)
min_stack_space_usb = 700 (int)
min_stack_space_uart = 3932 (int)
min_stack_space_usb_irq = 1820 (int)
min_stack_space_startup = 564 (int)
usb: ...
i2c: ...
config:
brake_resistance = 2.0 (float)
enable_uart = True (bool)
enable_i2c_instead_of_can = False (bool)
enable_ascii_protocol_on_usb = True (bool)
dc_bus_undervoltage_trip_level = 8.0 (float)
dc_bus_overvoltage_trip_level = 51.840003967285156 (float)
axis0:
error = 0x0000 (int)
enable_step_dir = False (bool)
current_state = 1 (int)
requested_state = 0 (int)
loop_counter = 464770 (int)
config: ...
motor: ...
controller: ...
encoder: ...
sensorless_estimator: ...
axis1:
error = 0x0000 (int)
enable_step_dir = False (bool)
current_state = 1 (int)
requested_state = 0 (int)
loop_counter = 464797 (int)
config: ...
motor: ...
controller: ...
encoder: ...
sensorless_estimator: ...
can:
node_id = 0 (int)
TxMailboxCompleteCallbackCnt = 0 (int)
TxMailboxAbortCallbackCnt = 0 (int)
received_msg_cnt = 0 (int)
received_ack = 0 (int)
unexpected_errors = 0 (int)
unhandled_messages = 0 (int)
test_property = 0 (int)
test_function(delta: int)
get_oscilloscope_val(index: int)
get_adc_voltage(gpio: int)
save_configuration()
erase_configuration()
reboot()
enter_dfu_mode()
In [2]: odrv0.axis1
Out[2]:
error = 0x0000 (int)
enable_step_dir = False (bool)
current_state = 1 (int)
requested_state = 0 (int)
loop_counter = 3757912 (int)
config:
startup_motor_calibration = False (bool)
startup_encoder_index_search = False (bool)
startup_encoder_offset_calibration = False (bool)
startup_closed_loop_control = False (bool)
startup_sensorless_control = False (bool)
enable_step_dir = False (bool)
counts_per_step = 2.0 (float)
ramp_up_time = 0.4000000059604645 (float)
ramp_up_distance = 12.566370964050293 (float)
spin_up_current = 10.0 (float)
spin_up_acceleration = 400.0 (float)
spin_up_target_vel = 400.0 (float)
motor:
error = 0x0000 (int)
armed_state = 0 (int)
is_calibrated = False (bool)
current_meas_phB = 0.10494136810302734 (float)
current_meas_phC = 0.11910498142242432 (float)
DC_calib_phB = -1.5147298574447632 (float)
DC_calib_phC = -1.6897022724151611 (float)
phase_current_rev_gain = 0.02500000037252903 (float)
current_control: ...
gate_driver: ...
timing_log: ...
config: ...
controller:
pos_setpoint = 0.0 (float)
vel_setpoint = 0.0 (float)
vel_integrator_current = 0.0 (float)
current_setpoint = 0.0 (float)
config: ...
set_pos_setpoint(pos_setpoint: float, vel_feed_forward: float, current_feed_forward: float)
set_vel_setpoint(vel_setpoint: float, current_feed_forward: float)
set_current_setpoint(current_setpoint: float)
start_anticogging_calibration()
encoder:
error = 0x0000 (int)
is_ready = False (bool)
index_found = False (bool)
shadow_count = 1 (int)
count_in_cpr = 1 (int)
offset = 0 (int)
interpolation = 0.5 (float)
phase = 0.041233405470848083 (float)
pos_estimate = 1.7666125297546387 (float)
pos_cpr = 1.7666125297546387 (float)
hall_state = 6 (int)
pll_vel = 0.0 (float)
pll_kp = 2000.0 (float)
pll_ki = 1000000.0 (float)
config: ...
sensorless_estimator:
error = 0x0000 (int)
phase = 0.06248487904667854 (float)
pll_pos = 0.062166016548871994 (float)
pll_vel = 0.10584936290979385 (float)
pll_kp = 2000.0 (float)
pll_ki = 1000000.0 (float)
cheers Stijn