Odrive 3.6 + gimbal motor 5208-200 need help

1

Hi. Im try to use odrive 3.6 24V with 5208-200 gimbal motor and AMT102 encoder. First of all im switch odrive to work in gimbal mode
odrv0.axis0.motor.config.motor_type=MOTOR_TYPE_GIMBAL
odrv0.axis0.motor.config.pole_pairs = 6
odrv0.config.brake_resistance = 0 (no resistor)
odrv0.axis0.encoder.config.cpr = 8192
After odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
motor just jerks. After some research, im found that need to change this
odrv0.axis0.encoder.config.use_index = True.
Motor start rotate in one direction but only until index signal from encoder and stop.
Im play with
odrv0.axis0.motor.config.current_lim = 5
odrv0.axis0.motor.config.calibration_current = 10
but no results.
axis0
axis: Error(s):
AXIS_ERROR_MOTOR_FAILED
motor: Error(s):
MOTOR_ERROR_MODULATION_MAGNITUDE
fet_thermistor: no error
motor_thermistor: no error
encoder: no error
controller: no error
axis1
axis: no error
motor: no error
fet_thermistor: no error
motor_thermistor: no error
encoder: no error
controller: no error

i cant control motor

p1
p1534×1047 182 KB

2

If the current limit is 5A, it should work with motor_type_high_current, as long as you use the lowest current sensor range.

You shouldn’t use such a high calibration current, you could overheat the motor. That’s probably the reason you hit the modulation magnitude error on calibration too.