Setting up Torque Control


I’m currently building a four wheel drive electric longboard for a thesis and can’t get the Torque Control to work at all. No errors occur, there’s just no movement at all. I got everything set up on a test bench so the motors can spin freely. I followed the steps in the instruction but seem to be missing something major. Velocity Control works fine via CAN with the integrated hall sensors of the motors. If anyone can help me I’d appreciate it very much.

This is my config for the ODrive v3.6 56V:


anticogging: …
axis_to_mirror: 255 (uint8)
circular_setpoint_range: 1.0 (float)
circular_setpoints: False (bool)
control_mode: 1 (uint8)
electrical_power_bandwidth: 20.0 (float)
enable_gain_scheduling: False (bool)
enable_overspeed_error: True (bool)
enable_torque_mode_vel_limit: True (bool)
enable_vel_limit: True (bool)
gain_scheduling_width: 10.0 (float)
homing_speed: 0.25 (float)
inertia: 0.0 (float)
input_filter_bandwidth: 2.0 (float)
input_mode: 2 (uint8)
load_encoder_axis: 0 (uint8)
mechanical_power_bandwidth: 20.0 (float)
mirror_ratio: 1.0 (float)
pos_gain: 1.0 (float)
spinout_electrical_power_threshold: 10.0 (float)
spinout_mechanical_power_threshold: -10.0 (float)
steps_per_circular_range: 1024 (int32)
torque_mirror_ratio: 0.0 (float)
torque_ramp_rate: 0.009999999776482582 (float)
vel_gain: 0.23155999183654785 (float)
vel_integrator_gain: 1.1577999591827393 (float)
vel_integrator_limit: inf (float)
vel_limit: 20.0 (float)
vel_limit_tolerance: 1.2000000476837158 (float)
vel_ramp_rate: 2.0 (float)
electrical_power: -0.0412989966571331 (float)
error: 0 (uint8)
input_pos: 0.0 (float)
input_torque: 1.0 (float)
input_vel: 0.0 (float)
last_error_time: 0.0 (float)
mechanical_power: 0.0 (float)
move_incremental(obj: object_ref, displacement: float, from_input_pos: bool)
pos_setpoint: 0.0 (float)
start_anticogging_calibration(obj: object_ref)
torque_setpoint: 0.0 (float)
trajectory_done: True (bool)
vel_integrator_torque: 0.0 (float)
vel_setpoint: 0.0 (float)


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: 10.0 (float)
current_control_bandwidth: 100.0 (float)
current_lim: 10.0 (float)
current_lim_margin: 8.0 (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: 0.00014396579354070127 (float)
phase_resistance: 0.5408436059951782 (float)
pole_pairs: 14 (int32)
pre_calibrated: True (bool)
requested_current_range: 25.0 (float)
resistance_calib_max_voltage: 15.0 (float)
torque_constant: 0.13783332705497742 (float)
torque_lim: inf (float)


abs_spi_cs_gpio_pin: 1 (uint16)
bandwidth: 100.0 (float)
calib_range: 0.019999999552965164 (float)
calib_scan_distance: 150.0 (float)
calib_scan_omega: 12.566370964050293 (float)
cpr: 84 (int32)
direction: -1 (int32)
enable_phase_interpolation: True (bool)
find_idx_on_lockin_only: False (bool)
hall_polarity: 0 (uint8)
hall_polarity_calibrated: True (bool)
ignore_illegal_hall_state: False (bool)
index_offset: 0.0 (float)
mode: 1 (uint16)
phase_offset: 9 (int32)
phase_offset_float: 1.4050372838974 (float)
pre_calibrated: True (bool)
sincos_gpio_pin_cos: 4 (uint16)
sincos_gpio_pin_sin: 3 (uint16)
use_index: False (bool)
use_index_offset: True (bool)


accel: 20.0 (float)
current: 10.0 (float)
ramp_distance: 3.1415927410125732 (float)
ramp_time: 0.4000000059604645 (float)
vel: 40.0 (float)
encoder_rate_ms: 10 (uint32)
heartbeat_rate_ms: 100 (uint32)
is_extended: False (bool)
node_id: 0 (uint32)
dir_gpio_pin: 2 (uint16)
enable_sensorless_mode: False (bool)
enable_step_dir: False (bool)
enable_watchdog: False (bool)
accel: 20.0 (float)
current: 10.0 (float)
finish_distance: 100.0 (float)
finish_on_distance: False (bool)
finish_on_enc_idx: False (bool)
finish_on_vel: False (bool)
ramp_distance: 3.1415927410125732 (float)
ramp_time: 0.4000000059604645 (float)
vel: 40.0 (float)
accel: 200.0 (float)
current: 10.0 (float)
finish_distance: 100.0 (float)
finish_on_distance: False (bool)
finish_on_enc_idx: False (bool)
finish_on_vel: True (bool)
ramp_distance: 3.1415927410125732 (float)
ramp_time: 0.4000000059604645 (float)
vel: 400.0 (float)
startup_closed_loop_control: False (bool)
startup_encoder_index_search: False (bool)
startup_encoder_offset_calibration: False (bool)
startup_homing: False (bool)
startup_motor_calibration: False (bool)
step_dir_always_on: False (bool)
step_gpio_pin: 1 (uint16)
watchdog_timeout: 0.0 (float)

Don’t know how but it works now after multiple Calibration runs.

1 Like

Sometimes this is the torque mode velocity limiter. You likely don’t want this for a wheeled vehicle, so set enable_torque_mode_vel_limit = False

I am new to this forum, but it seems to me that the same questions have been posted and answered over and over again – with me included!

Since the ODrive 3.6 is about to exit active development phase,

How about if we make a community push to write a detailed and not shortened guide to “how to setup any motor” – which would include a walk-through of all the options and their effects.

In fact, browsing through the source code, It does look like many of the parameters could use a renaming for clarity.