Motor stops spinning after a few revolutions


I am using the AS5047P encoder with V3.5 Odrive 24V and the following brushless DC motor, iPower Motor GBM110-150T Gimbal Motor. (Voltage: 20V, Current: 0.066A, Max Current: 13A).

Calibrating the motor works but when I try do closed loop velocity control, the motor will turn for about 5 revolutions (but it does sound like it is revving almost) and then come to a stop. There are no errors thrown. Is this a tuning issue?

I have tried following the tuning procedure in the docs but the revving sound persists even at low velocity gain values (0.004). An ideas on how to go about figuring out what is going on?



Are you running it in GIMBAL mode?


Yes it is set to Gimbal mode. I have pasted the settings below

odrv0.axis0.motor.config.pole_pairs = 14
odrv0.axis0.motor.config.resistance_calib_max_voltage = 10 ## Originally 1V  
odrv0.axis0.motor.config.motor_type = MOTOR_TYPE_GIMBAL
odrv0.axis0.controller.config.control_mode = CTRL_MODE_VELOCITY_CONTROL
odrv0.axis0.motor.config.current_lim = 10 #Half of max V
odrv0.axis0.motor.config.calibration_current = 10 #e half of max V
odrv0.axis0.motor.config.pre_calibrated = False
odrv0.axis0.encoder.config.pre_calibrated = False
odrv0.axis0.encoder.config.cpr = 4000