Motor & encoder problem

[Steven_Sun]

RROBLEM HAS BEEN RESOLVED

so it turns out, the right side is motor0 and left side is motor 1

So I came across DJI robomaster small BLDC motor with gearbox with it. Link https://store.dji.com/product/rm-m2006-p36-brushless-motor.
it’s a pretty small motor…

The motor specs:
rated up to 24V
torque constant is 0.18N*m/A
speed constant 32.96 rpm/V
phase resistance:461mOhm
phase inductance: 64.22uH
Pole pairs: 7

The encoder on it gives voltage (analog) output. it does 7 crossing each rev. the motor comes with the FOC ESC and it works pretty well with it.

I looked over these posts for sensorless

New dfu firmware, can't spin turnigy sk3 sensorless

Motor is turnigy SK3 4250-350kv using 12A bench supply set to 16V. Make dfu succeeded. Tried a fresh start, erased config power up with default settings, motor spins approx 90 deg. In [9]: my_odrive.motor0.error Out[9]: 22 my_odrive.axis0.config.do_calibration_at_start = 0 In [3]: my_odrive.axis0.config.enable_control_at_start Out[3]: True typedef enum { CTRL_MODE_VOLTAGE_CONTROL = 0, CTRL_MODE_CURRENT_CONTROL = 1, CTRL_MODE_VELOCITY_CONTROL = 2, CTRL_MODE_POSITION_CONTRO…

Sensorless mode

A new ODrive feature is ready for testing: Sensorless mode. This mode lets you run motors without and enocder. To do this we sacrifice two things: reduced accuracy as compared to an optical encoder, and lack of precise control at low speeds. On the accuracy side, very preliminary results on this seems to indicate around 0.5 degrees 1-sigma error on my 7 pole pair motor. On the low speed control: The minimum speed that supports good control is not yet established, but it will depend on the kv o…

But When I power up the ODRIVE, it only draws ~1A but doesn’t spin and then it stopped.
The tool gives me the error code as 3 (Phase resistance out of range)

Phase resistance out of range

Hi, I am trying to use the ODrive with a hub motor and AS5304 magnetic encoder with a ring magnet with 44 poles => CPR = 22 * 40 * 4 When it is doing the calibration it just moves a little and then it stops if I run “g 1 3” I get 3 which I found it to mean ERROR_PHASE_RESISTANCE_OUT_OF_RANGE I did read the phase resistance value (g 0 12) and it is 0.0 I also checked the AB signals from AS5304 with an oscilloscope and they look ok (I was mainly worried it’s not reading the values properly bu…

this post made the current to 2A but still.

• after 2A of measuring resistance, (i guess it suppose to spin after that?) then the voltage dip below 24V (like 18v). and I think that might have hit 10A power supply protection (I don’t have caps at the output of the power supply but I think that’s what the onboard caps are for).
• the vbus_voltage from explore_odrive.py gives around 1.77V and around 15.5V a lot of times, but not 24V.
• the config doesn’t really save by using
  ** my_odrive.save_configuration()
  ** my_odrive.reboot()
  Any help will be appreciated