Moving motpr by a specofied angle

Support
1

Hey i am new to odrive. So i am using a high current motor. I aim to move the motor by a set amgle say 60 degree. But i am unable to achieve it. Any suggestions how shoukd i go about

2

Hi! To help you best, I’m going to need some information. Can you please let me know the following:

  • Which ODrive are you using?
  • What motor are you using? A part number or datasheet is best
  • What encoder are you using
  • Please share some pictures of your wiring, showing how the encoder is connected to the motor, and how both are wired to the ODrive
  • Please share the commands you used to set up your ODrive, whether in ODrivetool or the GUI.

What have you tried so far?

3

i am using 56V Odrive V3.6 and antigravity T motor MN5008 KV170
Till now, i have tried the following section from the documentation

image
image1274×948 66.8 KB

However, I am unable to control the angle by which the drive moves
The encoder is connected to the motor via a pully cum coupler (I cant share an image…i hope u understand:) )

I was able to do the full calibration sequence and closed loop sequence
the following is the python code I used to calibrate the motor

from odrive.enums import *
from odrive.utils import dump_errors

odrv0 = odrive.find_any()

# # shows the voltage supplied to odrive
print(str(odrv0.vbus_voltage))
# # Controller configuring prarameters
odrv0.axis0.motor.config.current_lim = 4
odrv0.axis0.controller.config.vel_limit = 2
odrv0.config.enable_brake_resistor = True
odrv0.config.brake_resistance = 2

# # Motor Configuration Parameters
odrv0.axis0.motor.config.pole_pairs = 14
odrv0.axis0.motor.config.torque_constant = 8.27/170
odrv0.axis0.motor.config.motor_type = 0

# # Encoder Configuration Parameters
odrv0.axis0.encoder.config.cpr = 2400

# #calibration
#odrv0.save_configuration()
print('configuration saved successfully')

# Calibration
odrv0.axis0.requested_state = odrive.enums.AXIS_STATE_FULL_CALIBRATION_SEQUENCE

# Wait for calibration to complete
while odrv0.axis0.current_state != odrive.enums.AXIS_STATE_IDLE:
    pass

odrv0.axis0.encoder.set_linear_count(0)

odrv0.axis0.requested_state = odrive.enums.AXIS_STATE_CLOSED_LOOP_CONTROL``` 

thank you