TMotor R60 kv115

Support
1

Trying to run a TMotor (Cubemars) R60 kv115 with 24V ODrive 3.6. Only one motor connected and using the ferrite ring on the phase wires. The Hall sensor is connected yellow H1 to A, blue H2 to B, green H3 to C. And the config is as follows:

odrv0.config.brake_resistance = 0
odrv0.axis0.motor.config.motor_type =MOTOR_TYPE_HIGH_CURRENT
odrv0.axis0.motor.config.pole_pairs=14
odrv0.axis0.motor.config.torque_constant = 0.083
odrv0.axis0.config.startup_motor_calibration = True
odrv0.axis0.config.startup_closed_loop_control = True

odrv0.axis0.encoder.config.mode = ENCODER_MODE_HALL
odrv0.config.gpio9_mode = GpioMode.DIGITAL
odrv0.config.gpio10_mode = GpioMode.DIGITAL
odrv0.config.gpio11_mode = GpioMode.DIGITAL

and the errors while trying any calibration is:

odrv0.config.brake_resistance = 0
odrv0.axis0.motor.config.motor_type =MOTOR_TYPE_HIGH_CURRENT
odrv0.axis0.motor.config.pole_pairs=14
odrv0.axis0.motor.config.torque_constant = 0.083
odrv0.axis0.config.startup_motor_calibration = True
odrv0.axis0.config.startup_closed_loop_control = True

odrv0.axis0.encoder.config.mode = ENCODER_MODE_HALL
odrv0.config.gpio9_mode = GpioMode.DIGITAL
odrv0.config.gpio10_mode = GpioMode.DIGITAL
odrv0.config.gpio11_mode = GpioMode.DIGITAL

the calibrations i use are:

odrv0.axis0.requested_state = AxisState.ENCODER_HALL_POLARITY_CALIBRATION
odrv0.axis0.requested_state = AxisState.ENCODER_OFFSET_CALIBRATION
odrv0.axis0.requested_state = AxisState.FULL_CALIBRATION_SEQUENCE

and i haven come close to run it since i get errors . So it wont move. But i does turn during calibrations.

Any ideas?

2

Which errors?

3

Sorry pasted the wrong text.

Errors after calibrations:

encoder: Error(s):
EncoderError.CPR_POLEPAIRS_MISMATCH
- the polepairs are to manufacturers specs.

And also i cant get the motor to move:
odrv0.axis0.controller.config.control_mode = 2
odrv0.axis0.controller.input_vel = 1
- wont give me anything.

What to do?

4

If you get CPR polepairs mismatch, you may be having some calibration issues. Make sure you follow the hoverboard guide to set up your hall sensors properly Hoverboard motor and remote control setup guide — ODrive Documentation 0.5.5 documentation

5

Hello Wetmelon

Yes i have followed that guide. There is also others (not on this forum) that have tried CubeMars (TMotor) with ODrive and had the same problems and the same errors i am getting.

So since it didnt work with the ODrive i bought a SOLO controller instead and after 15min of hooking up and 15mins of setting paramas and calibration it just works. And thats during my first try.