Hi, guys
I’m using a 90W(3 pole pairs) motor and a 1024 resolution encoder. I followed the instructions step by step.I do have an odrive detected, I do get the correct vbus_voltage as expected.But when I’m running the motor calibration nothing happens. no movement, no beep…
Then I try reading the error codes. The axis error is 0x41 and the motor error is 0x11. The configuration I have saved shown below.
In [2]: odrv0.axis0.config
Out[2]:
startup_motor_calibration = True (bool)
startup_encoder_index_search = True (bool)
startup_encoder_offset_calibration = True (bool)
startup_closed_loop_control = True (bool)
startup_sensorless_control = True (bool)
enable_step_dir = False (bool)
counts_per_step = 2.0 (float)
ramp_up_time = 0.4000000059604645 (float)
ramp_up_distance = 12.566370964050293 (float)
spin_up_current = 10.0 (float)
spin_up_acceleration = 400.0 (float)
spin_up_target_vel = 400.0 (float)
In [4]: odrv0.axis0.motor
Out[4]:
error = 0x0011 (int)
armed_state = 0 (int)
is_calibrated = False (bool)
current_meas_phB = 0.021229267120361328 (float)
current_meas_phC = -0.023336350917816162 (float)
DC_calib_phB = -1.6526819467544556 (float)
DC_calib_phC = -0.601020097732544 (float)
phase_current_rev_gain = 0.012500000186264515 (float)
current_control:
p_gain = 0.0 (float)
i_gain = nan (float)
v_current_control_integral_d = 0.0 (float)
v_current_control_integral_q = 0.0 (float)
Ibus = 0.0 (float)
final_v_alpha = 0.0 (float)
final_v_beta = 0.0 (float)
Iq_setpoint = 0.0 (float)
Iq_measured = 0.0 (float)
max_allowed_current = 35.999996185302734 (float)
gate_driver:
drv_fault = 0 (int)
timing_log:
TIMING_LOG_GENERAL = 0 (int)
TIMING_LOG_ADC_CB_I = 1237 (int)
TIMING_LOG_ADC_CB_DC = 10965 (int)
TIMING_LOG_MEAS_R = 4677 (int)
TIMING_LOG_MEAS_L = 0 (int)
TIMING_LOG_ENC_CALIB = 0 (int)
TIMING_LOG_IDX_SEARCH = 0 (int)
TIMING_LOG_FOC_VOLTAGE = 4625 (int)
TIMING_LOG_FOC_CURRENT = 0 (int)
config:
pre_calibrated = False (bool)
pole_pairs = 3 (int)
calibration_current = 15.0 (float)
resistance_calib_max_voltage = 4.0 (float)
phase_inductance = 0.0 (float)
phase_resistance = 0.0 (float)
direction = 1 (int)
motor_type = 0 (int)
current_lim = 10.0 (float)
requested_current_range = 25.0 (float)
current_control_bandwidth = 100.0 (float)
Is it likely that the motor or the encoder I choose does not match the odrive 3.5 24v. I am a newcomer in this field. I appreciate all help.