I’m running into a repeated issue while using torque control. When I put the motor in torque control mode and allow it to free spin w/o an external load, it stops spinning after ~10s with default config limits in place and
input_torque = 0.2. If I reverse the sign of the torque, I get 10s in the other direction, and if I double the default
vel_limit, it runs for only half the time (5s). This process seems very repeatable based on my debugging steps.
I’ve read through the documentation, but don’t see any mention of a config parameter that would cause this behavior. For reference, I’m using the D6374 motor with the AMT102 encoder, and during these debugging steps, I switched to just using the odrivetool. I can give more details if that would be useful.
Any help would be appreciated.