Hello,
i AM USING Odrv3.6 purchased from China, firmware version is 0.5.1.
My motor is RI50 dc motor. Encoder cpr is 560 Incremental mode.
The problem is MOTOR is vibrating BACK and FORTH, means moving in REVERSE and FORWARD directions both in POSITION and VELOCITY mode.
The calibration is okay without any errors, and motor running smoothly in SENSORLESS_MODE also. here is my controller configurations settings, please check and suggest me solutions please. thanks.
In [39]: odrv0.axis0.controller
Out[39]:
anticogging_valid: False (bool)
config:
anticogging: {…}
axis_to_mirror: 255 (uint8)
circular_setpoint_range: 1.0 (float)
circular_setpoints: False (bool)
control_mode: 3 (int32)
enable_current_mode_vel_limit: True (bool)
enable_gain_scheduling: True (bool)
enable_overspeed_error: True (bool)
enable_vel_limit: True (bool)
gain_scheduling_width: 10.0 (float)
homing_speed: 40.0 (float)
inertia: 0.0 (float)
input_filter_bandwidth: 50.0 (float)
input_mode: 2 (int32)
load_encoder_axis: 0 (uint8)
mirror_ratio: 1.0 (float)
pos_gain: 0.5 (float)
torque_ramp_rate: 0.05000000074505806 (float)
vel_gain: 0.0005000000237487257 (float)
vel_integrator_gain: 0.0024999999441206455 (float)
vel_limit: 1000.0 (float)
vel_limit_tolerance: 100.0 (float)
vel_ramp_rate: 0.5 (float)
error: 0 (int32)
input_pos: 0.008888889104127884 (float)
input_torque: 0.0 (float)
input_vel: 0.0 (float)
move_incremental(displacement: float, from_input_pos: bool)
pos_setpoint: -5.505317687988281 (float)
start_anticogging_calibration()
torque_setpoint: 0.0 (float)
trajectory_done: True (bool)
vel_integrator_torque: -0.0005316188326105475 (float)
vel_setpoint: 0.0 (float)