First time using an ODrive controller! I’m trying to run a brushless motor with no encoder but with hall-effect sensors. It has 4 pole pairs and a Kv of 23.6 rad/s/V (Kt = .0424 Nm/A), and I have most of the motor parameters left to default but a few changed - I set all the gains to 0, and the velocity limit is set to 20 turns/s. But here’s the problem I’m having:
Motor/encoder calibration with AXIS_STATE_FULL_CALIBRATION_SEQUENCE goes fine, no errors, and appears to visually function fine (motor spins one way and then the other).
Axis state is then set to AXIS_STATE_CLOSED_LOOP_CONTROL with no errors. The motor then vibrates slightly, draws slightly more current from the power supply, and seems to be ready to move.
With the controller set in either position or velocity control mode, either an input_pos or input_vel value can be set, but regardless of which mode I’m in (position or velocity control) and what value I set it to (I’ve tried a wide range of values in both control modes), the outcome is the same. The motor stops vibrating, does absolutely nothing, and I receive following dump errors:
UNKNOWN ERROR: 0x00000200
sensorless_estimator: no error
encoder: no error
I’ve tried changing gains and velocity limits to attempt to address the overspeed issue, but to no avail, and I can’t find any information about this “unknown error” 0x00000200, either on Odrive’s documentation, forums, or the wider internet. Does anyone have any knowledge about this?? I’m incredibly stuck and having a very hard time solving this problem.