Spin Out Error for ODrivev3.6 (force control)

[18julgut]

I currently have a setup where I have a force tension sensor that is feeding back the current force into my force control loop. However, sometimes I am getting a SPINOUT_ERROR when I command a change in force that requires a quick spin of the motor. I doubt that the issue is due to encoder slippage because the encoder is integrated into the COTS motor, and it is rated for high RPM.

I am thinking of simply commenting out the code that raises the SPINOUT_ERROR. Would you advise against that? Any other insights into what might be raising this error?

[Wetmelon]

@18julgut

However, sometimes I am getting a SPINOUT_ERROR when I command a change in force that requires a quick spin of the motor.

Yeah that can happen, if the acceleration is too high. You can try increasing the current_control_bandwidth and the encoder.config.bandwidth

@18julgut

Would you advise against that? Any other insights into what might be raising this error?

Yeah, if you get spinout the current controller has likely lost control due to the high acceleration rate.