Struggling with getting started

Support
1

Hi! I’m new to this super exciting project but i’m struggling a bit.

I’m following the getting started guide, and everythings fine until the
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

command. The motor won’t try to hold the position and i doesn’t resist at all. Also the pos_setpoint command doesn’t do anything.

when i look for the errors via dump_errors(odrv0), i’m getting:

axis: ERROR_CONTROLLER_FAILED
Motor: ERROR_CONTROLL_DEADLINE_MISSED
encoder: no error
Controller: ERROR_OVERSPEED

when i restart the odrive, the errors are gone, but the motor still doesn’t move at all.

i’m using am odrive 3.6, 24V, firmware 0.4.10 on windows, with Python Anaconda.

i hope somebody can help me. Thanks Guys!

  • Clemens
2

Hi Gizmoo, try this it may help

https://discourse.odriverobotics.com/t/error-control-deadline-missed/3662/2

Regards Jerry :slightly_smiling_face:

3

You need to tune it first
~ https://docs.odriverobotics.com/control ~
I suggest you, don’t use vel_integrator_gain :slight_smile:

  • Set vel_integrator_gain gain to 0
  • Make sure you have a stable system. If it is not, decrease all gains until you have one.
  • Increase vel_gain by around 30% per iteration until the motor exhibits some vibration.
  • Back down vel_gain to 50% of the vibrating value.
  • Increase pos_gain by around 30% per iteration until you see some overshoot.
  • Back down pos_gain until you do not have overshoot anymore.
4

thanks guys! Setting the velocity limit up did the job!