Torque Mode Not Working

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1

So I want to do a simple constant torque on a motor through torque mode, but the motor is not moving when inputting a torque value, although it calibrates well, and the .current_state sends a value of 8 showing it’s in closed loop indeed. The code is as below:

import odrive
from odrive.enums import *
import time

#Find a connected ODrive (this will block until you connect one)
print("finding an odrive...")
odrv0 = odrive.find_any(serial_number=SERIAL_NUM)

#Set initial conditions 
odrv0.clear_errors()

#Calibrate motor and wait for it to finish
print("starting calibration...")
odrv0.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
odrv0.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE

#wait until we finish calibraiton
while odrv0.axis0.current_state != AXIS_STATE_IDLE:
    time.sleep(0.1)


#Set all motors to Closed Loop Control State
odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
odrv0.axis1.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL

#Set all motors to Torque Loop Control Mode
odrv0.axis0.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL
odrv0.axis1.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL


#Set torque of each motor
odrv0.axis0.controller.input_torque = -0.1
odrv0.axis1.controller.input_torque = 0.1

I even tried to set a torque_constant = 8.23 / 270 as I use the D5065 - 270kv motor, but still no use. I tried different torque values too, but it didn’t work. Am I missing something?

2

Hi there,

Can you make sure controller.config.input_mode is set to INPUT_MODE_PASSTHROUGH?

Does the ODrive successfully pass calibration? i.e. dump_errors(odrv0) not showing any errors?

Can you show the value of the following properties, after commanding torque:
torque_setpoint
torque_lim
effective_current_lim
Iq_setpoint
Iq_measured

Could you post a picture of your wiring and your overall setup, showing motor and encoder mounting?

1 Like
3

Thanks again Solomon, it was the INPUT_MODE_PASSTHROUGH indeed, I thought it is the default so I didn’t think about changing it.