Unable to use velocity control


#1

I’m trying to use velocity control. For some reason, as long as the integrator gain is set to zero, the following command doesn’t seem to have any effect:

my_drive.motor1.set_vel_setpoint( 2400.0, 0.0)

Set_pos_setpoint seems to work correctly, and if I set the integrator gain to something nonzero the command makes the motor move (with lots of lag). No errors are reported. I’m clearly doing something wrong. Any ideas?

/Mads


#2

What motor are you using, what is your mechanical load? What is your vel_gain? When it’s sat trying to go but not trying hard enough (with integrator off), what value do you get for my_odrive.motor1.current_control.Iq_setpoint?


#3

Great! It seems I was being too soft on the vel_gain. Increasing it seems to fix it for me. Thanks for the help!

/Mads