Useing odrive to the motor with speed reduction device

1

I applied the oddrive to the motor with speed reducer. The encoder was installed on the motor side, and the deceleration ratio was 9:1, and the power supply is 24 v.
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Some settings are as follows:
odrv0.axis0.motor.config.pole_pairs = 12
odrv0.axis0.encoder.config.cpr =5000*4
odrv0.axis0.motor.config.resistance_calib_max_voltage = 4
odrv0.axis0.motor.config.calibration_current = 8

When I use the position control, when the position setting value is nine turns (the reduction ratio is 9:1), the end of the gearbox does not reach one turn, and the motor is stuck in the middle of running, and the current rises sharply.

I would like to ask which parameters need to be changed when using the motor with deceleration device. Thanks.

2

There are no changes to be made. Configure the motor exactly as you would without the reduction.
But in your (external) control program you need to multiply your position, velocity and torque values by a factor of 9.