Unknown Torque error

Trying to tune my 6374 motor while attached to a gearbox. Has a AS5047P encoder using ABI directly on the motor shaft.

Is what I get when I have pos_gain and vel_integrator at 0 and try to tune the vel_gain.

Think I figured it out. I was using the encoder index find as a sloppy way to zero the encoder position. This messed up the encoder/motor direction no longer matched. A full calibration fixed this. You can also get this error when tuning pos_gain and you get big overshoot.

1 Like