Sensorless mode with Error 0x1000 unstable current

Now I am trying to control the motor at sensorless mode. Setting and calibration works fine, but after activating sensorless mode I get the error. I read a lot of topics but nothing helps.

I use a default setup:

  • HW 3.6 56V, FW 0.4 11
  • Motor D5065-270KV @ M0 connector, motor temp sensor unused (not connected)
  • 10A Supply @ 24V
  • encoder unplugged

Use following command list:
odrv0.axis0.sensorless_estimator.config.pm_flux_linkage = 5.51328895422 / (7 *270)
odrv0.axis0.controller.config.vel_gain = 0.01
odrv0.axis0.controller.config.vel_integrator_gain = 0.05
odrv0.axis0.controller.config.control_mode = CTRL_MODE_VELOCITY_CONTROL
odrv0.axis0.controller.vel_setpoint = 400
odrv0.axis0.motor.config.direction = 1
odrv0.axis0.requested_state = AXIS_STATE_MOTOR_CALIBRATION

-> til this point no error, but now
odrv0.axis0.requested_state = AXIS_STATE_SENSORLESS_CONTROL

The motor starts to move for a short time (1-2sec) and stops with:
odrv0.axis0 -> error = 0x0040
odrv0.axis0.motor -> error=0x1000

I know that is caused by exceeding current limits @Motor::FOC_current(), but changing any current limts didn’t solve the problem.
What could be a solution?

thx Hannes

Have you tried adjusting the values under axis.config.calibration_lockin ? (may have a different name in older firmware)

It defines the current, speed, acceleration and velocity used to get the sensorless estimator into phase lock with the motor.
Also, make sure there is little or no load on the motor when you try to start it in sensorless mode.

thx for this hint, it works in slow motion with following parameter adjustments :slight_smile:


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