Newbie Project: Figuring out motor


#1

Hello,

I am currently figuring out the different parameters and commands to be used for the odrive motor. I wanted to calculate the torque estimation, by knowing the motor current. I used the following command to measure the motor current:
axis0.motor.current_control.Iq_measured

However, it won’t measure anything. I am having:
axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
.axis0.controller.config.control_mode = 1 (which is in current control mode)
.axis0.controller.current_setpoint = 5

I assume that the measured motor current should be measured as 5, but it always measure 0.0A.

Thank you.

Jonathan


#2

Check the error codes: https://docs.odriverobotics.com/troubleshooting