So, I have had my motor running in sensorless mode for a while now, but recently the wires I needed to connect my hall-sensors arrived. So I have tried configuring them, but without any success.
What I have:
I am getting encoder error 0x10, which means i have an illegal state.
when I test the hall sensors manually, they appear to nicely move through the quadrature like I would expect, never producing 000 or 111, always at least one sensor high and one sensor low.
when I manually supply the sensors with power and ground, the pins that I want to plug into the Odrive read ABC = 110 (1 = 5V, 0=0V). However, when I plug it in and measure the pins I get everything at 4V so ABC=111.
The 5V, 3V, and Ground are still functioning normally.
Have I blown up the chip? Or is there some setting on my Odrive set wrong?
So I measured the resistance between the ABC/Z pins on my Odrive and they are around 6.6kOhm. That seems to indicate a short right? The resistance between two random GPIO pins on the Odrive is 288kOhm.
Thanks for pointing them out. I have seen them, and I don’t think capacitors will solve my issue. Capacitors would help filter in a noisy situation, but at the moment my issues is when the motor is static.
The problem I have is that the ABC/Z ports on the Odrive should be low, so that the active hall sensors can pull them high.
I am trying to figure out if the ports are working as intended, and i need to change my configuration somehow. Or if the ports are broken, and I need to get the unit replaced.
Basicly the Odrive is forcing ABC/Z to high, which is an illegal state.
I would try 22nF capacitors anyway, it is easy and believe me i spent lot of time figuring out why it is not working and those caps saved me:) Without caps it is completely strange behaviour it does not matter if your motors are spining or not, just completely strange:)
We have pull-up resistors to 3.3V on the encoder inputs, because many encoders (and hall signals too) are open drain. It seems you have push-pull sensors since you can see the output when disconnected.
Usually push-pull encoders/halls will drive over the 3.3k load just fine. However if you but if your motor’s sensors have really weak output current (<2mA) I guess they could have issues. You can try to de-solder the pull-up resistors and see if that helps.
They sit on the back of the board right next to the encoder input. Check this part of the schematic for the designators:
If you still wanted to stick in the 22nF caps, a capacitor to ground is roughly equivalent to a capacitor to VCC, therefore you could use the same pads to install the caps. Convenient! S.