Motor never stops spinning at startup

Support
1

Hi all,

I am new to Odrive. Got my board hooked up. Can connect to it through the USB/Python interface.
After reboot, the motor beeps then starts spinning slowly. This never stops.
I am using a fairly big motor (like the one used in OpenTorque) with an AS5047 encoder.
Encoder signals seem to look ok on the scope.
When i changed to the other channel the thing happens.
I did not change any of the settings.
Any idea what am i missing?

Thanks,
Eddy

2

Try odrv0.erase_configuration() then try again? Because that sounds like it can’t find the index pin, which should be disabled by default.

3

Thanks Wetmelon. This got me a step further but i now have a different problem:
I keep getting the ERROR_CPR_OUT_OF_RANGE error.
I counted the number of magnets to be 40 and programmed 20 pole pairs.
I am using a AS5047 encoder. I am confused about the CPR value of this. According to your encoder overview the number of counts per rev for the AS5047 is 16384. I have also seen other people set the cpr to 4000. I tried 16384, 4000 and 4096 and all of them give me error #2 for the encoder.
ANy ideas?

Thanks,
Eddy

4

AFAIK PPR is programmable and can also can be set to 500, 400, 300, 200, 100, 50, 25, 8, 512, 256

5

You can also change the bandwidth on the CPR, try increasing it (and rebooting) until the error stops occuring. That should give you a good indication of what the correct value for CPR is.

6

I don’t think the encoder guide is correct. According to the datasheet, the AS5047P supports 4096 steps/rev, or 512 pulses per rev. So you want to use encoder.config.cpr = 4096, unless you’ve reprogrammed the chip to something else.