I trigger my z-index of my encoder on, and still, the Odrive GUI shows my motor position as non-zero. Also, is there any offset in the FOC reading through the Odrive? If not, where does the error come from?
Hi, which ODrive are you using? By default the index pin isn’t used to zero the motor, just to set the correct offset for the electrical angle for the FOC loop.
I am using Odrive Pro. Also, is there any offset in the FOC reading?
Can you define what “offset” means here? Do you mean error between the read and actual encoder angle? Or error in the torque control? Or something else?
If you want to initialize the motor zero position to the index position, you can set up the Index-based reference frame.
Hi,
I mean offset between the read and actual encoder angle measured. thank you…
The ODrive has an onboard encoder filter, however the mathematical structure makes it have zero error at steady state velocity. When there is a rapid acceleration or deceleration, there may be a few milliseconds where the filter lags behind the actual value, however this error will be small, and resolve itself very quickly.
By default, the ODrive shows the angle as relative to the startup position. However, if you enable the index-based reference frame, it will use the encoder’s index to set the zero position, so the angle will always match.