Setup Gimbal mode

1

Hi together,

i have set up the odrive board in gimbal mode as described in the getting started. Startup procedure should fine. After type in odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL the motor should try to hold the motor’s position but I can simply turn it. Velocity control does not work either. Any ideas?
Motor is a EMAX GB4008 with an ams AS5147P encoder (A, B, no index).
Code:

odrv0.config.brake_resistance = 2
odrv0.axis1.motor.config.pole_pairs = 11
odrv0.axis1.motor.config.current_lim = 8.4
odrv0.axis1.controller.config.vel_limit = 3
odrv0.axis1.motor.config.calibration_current = 3
odrv0.axis1.motor.config.motor_type =  MOTOR_TYPE_GIMBAL
odrv0.axis1.encoder.config.cpr = 4096
odrv0.axis1.motor.config.direction = 1
odrv0.save_configuration() 
odrv0.reboot()
odrv0.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE

Thanks
Jannis

2

Any errors? dump_errors(odrv0)

3

No errors, i will try to set up again

4

Now its runing! After erase_configuration() and reprogramming its running.

Thanks
Jannis

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