Hi everyone, I am using a 21 pole pairs motor. I am constantly getting an error saying: Procedure error POLE_PAIR_CPR_MISMATCH. It looks like Motor > Pole Pairs should be 22. Please consult your motor datasheet and update the configuration.
When I recalibrate the motor, it gives me error saying Procedure error POLE_PAIR_CPR_MISMATCH. It looks like Motor > Pole Pairs should be 20.
After recalibrating it couple of times, it works. Any idea regarding why does this keeps happening?
Your current limit and calibration current/voltage is very very very low, and your torque limit is miniscule (this will limit the motor to 0.12A). When lock-in spin current is low, the motor won’t be able to turn smoothly during calibration, leading to your error. I would use the following values:
Current limit: 30A
Motor calib. current: 10A
Motor calib. voltage: 2V
Lock-in spin current: 20A
You will additionally need to raise your torque limit, or disable it, in order to get good control in closed loop mode, otherwise the motor will be too weak. A torque limit of 2.481 Nm will correspond to the motor’s maximum current of about 30A.
Hii, my motor’s max continuous current is 8A. I am using the Tmotor U8 100Kv, older version. I am bit confused, won’t it be an issue if I set the current limit higher than that?
Sorry - can you link the exact motor you’re using? And glad I can help
Typically the motors have a 180-second current rating, this is fine to hit, especially in calibration. Generally, the current limit you use will vary depending on your load and duty cycle – if your load won’t nominally exceed the continuous current limit, but instead have occasional peaks, that’s usually fine. It always helps to add a thermistor to the motor, if possible – this way, the ODrive can sense and limit the temperature.
Ah - understood, so that’s a totally different motor. In that case, you can set the current limit to 8A, and also set calib current and lock-in spin current to 8A.
