I have a motor (2 pole pair) and an encoder (600ppr) hooked up to the 24v odrive and it seems to be working, in that it will go through the calibration process and allow me to enable closed loop control.
However, once closed loop control is enabled the resolution is very poor. The angular resolution seems to be limited to 90 or so degree increments. It will jump between them, and then drift a bit and then jump again, although it handles the long distance part of moves fine.
In velocity mode (which is the one I care about) it does something similar where it appears to work fine at high speeds, but at low speeds will make a full rotation, then stop for a second or so and make another full rotation rather than rotating slowly at a constant speed.
I’m pretty new to this, so it’s quite likely I have missed a config option. Alternately, does that seem like reasonable behavior for the motor and encoder I’ve chosen?
All the best,