I just got my v3.6 56V and I’m trying to get the motor runnig. I’ve followed all steps in the Getting Started section of the doc and at the end of the sensorless setup I run odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL which does nothing and give the errors
axis0
axis: Error(s):
AxisError.INVALID_STATE
motor: no error
DRV fault: none
sensorless_estimator: no error
encoder: no error
controller: no error
I found out that the motor as to be calibrated first (which isn’t mentionned in the doc for some reason). When I input odrv0.axis1.requested_state = AXIS_STATE_MOTOR_CALIBRATION no movement at all and a very fainted sound but nothing more.
When I run dump.errors(odrv0) I get
axis0
axis: Error(s):
AxisError.MOTOR_FAILED
motor: Error(s):
MotorError.PHASE_INDUCTANCE_OUT_OF_RANGE
MotorError.CURRENT_LIMIT_VIOLATION
DRV fault: none
sensorless_estimator: no error
encoder: no error
controller: no error
and the config is
I_bus_hard_max: inf (float)
I_bus_hard_min: -inf (float)
I_leak_max: 0.10000000149011612 (float)
R_wL_FF_enable: False (bool)
acim_autoflux_attack_gain: 10.0 (float)
acim_autoflux_decay_gain: 1.0 (float)
acim_autoflux_enable: False (bool)
acim_autoflux_min_Id: 10.0 (float)
acim_gain_min_flux: 10.0 (float)
bEMF_FF_enable: False (bool)
calibration_current: 100.0 (float)
current_control_bandwidth: 1000.0 (float)
current_lim: 65.0 (float)
current_lim_margin: 10.0 (float)
dc_calib_tau: 0.20000000298023224 (float)
inverter_temp_limit_lower: 100.0 (float)
inverter_temp_limit_upper: 120.0 (float)
motor_type: 0 (uint8)
phase_inductance: inf (float)
phase_resistance: 0.01120675913989544 (float)
pole_pairs: 7 (int32)
pre_calibrated: True (bool)
requested_current_range: 60.0 (float)
resistance_calib_max_voltage: 2.0 (float)
torque_constant: 0.03999999910593033 (float)
torque_lim: inf (float)
pretty sure the issue is the inductance being inf but I have no idea what is going on. Can someone please help me?