Turnigy Aerodrive SK3 - 4250-350kv

Hey!

Im using the Aerodrive Turnigy SK3 - 4250-350kv Motor with the AMT102-V Encoder.

I’ve managed to calibrate the motor a few days ago (not the encoder, Imstruggling with that one on a whole different level)- but now it stopped working consistently, if at all.

During the odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL calibration I now get the beep an most of the time a rotation in one direction, sometimes not even that. No other commands seem to work after calibration, it wont move to a set point.

I cant figure out where I’m calibrationg it wrong… these are my values:

Encoder problems, please check the encoder circuit and configuration and index

Okay so I’ve learned a lot and figured a lot of my previous issues out!

Encoder seems to work fine now, as well as the calibration.
It doesnt show me any errors after a full calibration.
However, as soon as I go into AXIS_STATE_CLOSED_LOOP_CONTROL and touch the motor ever so slightly it will freak out and shut off and gives me these errors:

dump_errors(odrv0)^M
…:
axis0
axis: Error(s):
ERROR_CONTROLLER_FAILED
motor: Error(s):
ERROR_CONTROL_DEADLINE_MISSED
encoder: no error
controller: Error(s):
ERROR_OVERSPEED

I can reboot and recalibrate fine- but I cant seem to find what is causing this issue!

These are my motor and encoder values:
odrv0.axis0.motor
Out[469]:
error = 0x0000 (int)
armed_state = 0 (int)
is_calibrated = True (bool)
current_meas_phB = -0.0031413733959198 (float)
current_meas_phC = -0.05141142010688782 (float)
DC_calib_phB = -0.3596027195453644 (float)
DC_calib_phC = 0.13180579245090485 (float)
phase_current_rev_gain = 0.02500000037252903 (float)
thermal_current_lim = 135.91555786132812 (float)
get_inverter_temp()
current_control:
p_gain = 0.0023307488299906254 (float)
i_gain = 6.409842014312744 (float)
v_current_control_integral_d = -0.21043384075164795 (float)
v_current_control_integral_q = -0.9467928409576416 (float)
Ibus = 0.4909997582435608 (float)
final_v_alpha = 0.9636579155921936 (float)
final_v_beta = 0.13029392063617706 (float)
Iq_setpoint = -10.0 (float)
Iq_measured = -8.584746360778809 (float)
Id_measured = 1.273858666419983 (float)
I_measured_report_filter_k = 1.0 (float)
max_allowed_current = 60.75 (float)
overcurrent_trip_level = 67.5 (float)
gate_driver:
drv_fault = 0 (int)
timing_log:
TIMING_LOG_GENERAL = 0 (int)
TIMING_LOG_ADC_CB_I = 2582 (int)
TIMING_LOG_ADC_CB_DC = 12854 (int)
TIMING_LOG_MEAS_R = 6606 (int)
TIMING_LOG_MEAS_L = 6606 (int)
TIMING_LOG_ENC_CALIB = 6938 (int)
TIMING_LOG_IDX_SEARCH = 0 (int)
TIMING_LOG_FOC_VOLTAGE = 6886 (int)
TIMING_LOG_FOC_CURRENT = 7114 (int)
config:
pre_calibrated = True (bool)
pole_pairs = 7 (int)
calibration_current = 10.0 (float)
resistance_calib_max_voltage = 2.0 (float)
phase_inductance = 2.3307487936108373e-05 (float)
phase_resistance = 0.06409841775894165 (float)
direction = -1 (int)
motor_type = 0 (int)
current_lim = 30.0 (float)
inverter_temp_limit_lower = 100.0 (float)
inverter_temp_limit_upper = 120.0 (float)
requested_current_range = 60.0 (float)
current_control_bandwidth = 100.0 (float)

odrv0.axis0.encoder
Out[475]:
error = 0x0000 (int)
is_ready = True (bool)
index_found = True (bool)
shadow_count = -1095 (int)
count_in_cpr = 7097 (int)
interpolation = 1.0 (float)
phase = -0.07473278045654297 (float)
pos_estimate = -1094.00634765625 (float)
pos_cpr = 7097.97509765625 (float)
hall_state = 1 (int)
vel_estimate = 1.25 (float)
calib_scan_response = 9418.0 (float)
config:
mode = 0 (int)
use_index = True (bool)
find_idx_on_lockin_only = False (bool)
pre_calibrated = False (bool)
zero_count_on_find_idx = True (bool)
cpr = 8192 (int)
offset = -4591 (int)
offset_float = 0.06299999356269836 (float)
enable_phase_interpolation = True (bool)
bandwidth = 100.0 (float)
calib_range = 0.019999999552965164 (float)
calib_scan_distance = 50.26548385620117 (float)
calib_scan_omega = 12.566370964050293 (float)
idx_search_unidirectional = False (bool)
ignore_illegal_hall_state = False (bool)
set_linear_count(count: int)

Got an Idea which changes could help my hyperactive motor calm down?