Hello, Wetmelon,
Thanks for the help upgrading the odrivetool and unlocking the device. At this moment we are beyond calibration of a motor and dealing with issues of high frequency oscillations without shaft turning. We can make position changes even with the vibrations, and are trying to adjust the gains and CUI encoder bandwidths to remove the vibrations.
Will update as we proceed.
Appreciate the help.
Hey Wetmelon,
We are still encountering issues with high frequency oscillations without the shaft turning. We have tried changing multiple parameters ( Gain, Encoder Bandwidth, Calibration Voltage/Current) to resolve this issue but have been unsuccessful up tot this point. Can you please provide additional steps to investigate to solve this problem? Thanks in advance.
When you say high frequency vibration, that sounds like it’s probably current measurement noise. What motors are you using, and what is your requested_current_range setting?
Your comment about current measurement noise alerted us that perhaps our power supply regulation was an issue allowing resonant instability. Switched to batteries and practically all control issues went away immediately. We are able to run motor in several modes with good response. Maybe we can finally drive our project.
We appreciate all of your patient help with us.
Thank You
Merry Christmas