When executing position control with odrive, is it possible to adjust the time when the motor accelerates to maximum speed and then decelerates again?
Yes, use TRAP_TRAJ mode and make sure you set up odrv0.axis0.trap_traj.config.accel_limit (and similarly for decel_limit). The unit is in rps/s, i.e. a value of 100 will mean the motor accelerates from 0 to 100rps (6000 RPM) in one second (if it is capable of doing it of course, i.e. not overloaded, suitably big, no current limits are exceeded, etc.)
1 Like
I am currently using a 5010 360kv motor. What is the recommended setting value to make the motor respond as quickly as possible?
You’re going to need to determine that based on your system inertia and load. I’d recommend starting by tuning PID gains and then moving to finding the fastest you can set a trajectory so the ODrive can still follow it well.