I was able to set up the drive in sensorless-velocity control mode and run a motor on a bench, however, when I set:
odrv0.axis0.controller.vel_setpoint = 0 #The drive stops here
odrv0.axis0.config.startup_sensorless_control = True
and power-cycle the drive, it boots and begins running in sensorless velocity control at 400rpm.
For my project, I need the system to boot in sensorless velocity control mode at 0rpm (So the system doesn’t drive away when I turn it on and the rest of the control systems boot up). Currently, I am booting in idle, then setting the rpm and then initializing sensorless control mode once the control systems are up and running. Even then, when I run:
odrv0.axis0.controller.vel_setpoint = 0
odrv0.axis0.requested_state = AXIS_STATE_SENSORLESS_CONTROL
it begins spinning at 400rpm.
Surely I am missing something, since no application I can think of would want a drive to actuate on startup like this.