ODrive S1 Dual Encoder Calibration No Response

Support ODrive S1 Support
1

Hello All,

I’ve used an ODrive with a single encoder and had great success, however, I’m having issues with using a load encoder and a commutation encoder.

Current Setup:
ODrive S1 onboard encoder for commutation
ODrive OA1 as the load encoder after a 10:1 reduction

While running calibration I get a No Response error, and while looking at the inspector tool in the GUI, the raw onboard encoder value is reported as 0. This is strange because when I attempt to perform calibration using the onboard encoder as both the load and commutation encoder it reports back correct values and passes calibration. Is this a known issue?

2

I did some more exploration and found that as far as I can tell, on FW 0.6.9-1 whenever odrv.rs485_encoder_group0.config.mode is set to ODRIVE_OA1 the value of odrv.onboard_encoder0.raw is stuck at 0.

3

Hi! Yes, sorry this is a known bug we’re working to fix. Please try using rs485_encoder_group1 instead of rs485_encoder_group0 (and the load encoder would be EncoderId.RS485_ENCODER1)

4

Thanks for the help!

In my configuration, I changed the relevant lines to read as follows:
odrv.axis0.config.load_encoder = EncoderId.RS485_ENCODER1
odrv.rs485_encoder_group1.config.mode = Rs485EncoderMode.ODRIVE_OA1
odrv.axis0.config.commutation_encoder = EncoderId.ONBOARD_ENCODER0

However, odrivetool returns the error ‘anonymous_interface_1265791679008’ object has no attribute ‘rs485_encoder_group1’

Did I read something incorrectly in your suggestion?

5

That should’ve worked. What version of ODrivetool are you using, and what firmware version is the S1 on? Should be v0.6.9.post0 and v0.6.9 (or v0.6.9-1) respectively. Should show when ODrivetool starts and when you connect the S1.

7

I found a solution thanks to samuelsadok on Github. They said:

"The recommended workaround is:

  1. Upgrade to devel firmware (or 0.6.10, once it’s released)
  2. Use rs485_encoder_group1 instead of rs485_encoder_group0 (and correspondingly EncoderId.RS485_ENCODER1 instead of EncoderId.RS485_ENCODER0).

For others reading: this is only an issue on ODrive S1, not on ODrive Pro."

so ultimately, the relevant lines of the configuration that worked are:

odrv.axis0.config.load_encoder = EncoderId.RS485_ENCODER1
odrv.rs485_encoder_group1.config.mode = Rs485EncoderMode.ODRIVE_OA1
odrv.axis0.config.commutation_encoder = EncoderId.ONBOARD_ENCODER0

Thank y’all very much for your help – I’ve been really impressed by how on top of this everyone has been :slight_smile:

8

Ah great, devel makes sense. Glad to hear it’s working out!

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