You definitely will need a higher resolution encoder if you need good velocity limiting in torque control mode. Your maximum gain is usually proportional to the encoder resolution, so you won’t be able to achieve a high gain like that with hall sensors. I also see some issues with your magnetic encoder mounting, I would recommend you carefully review this article: Designing for Magnetic Encoders — ODrive Documentation 0.6.11 documentation
What’s the issue with using an encoder in your final application? Why do you say that wouldn’t work?
Do you maybe have the option of changing to a different motor? But I agree, there’s not a very good way to add an encoder to that. One option is to tune the hall gains at a few different speeds, and dynamically interpolate between gains based on the speed, but that may be a lot of extra work and external code needed.
Ich habe jetzt alle Motor Einstellungen soweit optimiert das ich einige Versuchsreihen durchführen möchte.
Kann ich die Daten aus der Inspektor Graphik über einen Zeitraum von 10 Sekunden auslesen oder exportieren? in CSV oder ähnlich
I know this is possible from the dashboard tab, but I’m not sure about the inspector tab. I’ll make an internal software ticket. But it should be straightforward to make a python script to do so as well!
