Motor doesn't move in closed loop control

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

Can you check the error codes?

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