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