Troubleshooting

Error Codes

If your ODrive is not working as expected, run odrivetool and type dump_errors(odrv0) Enter. This will dump information about active and recent errors. To clear all the errors, you can run odrv0.clear_errors().

With this information you can look up the API documentation for your error(s):

  • Axis errors:

  • internal issues: Should usually be 0. A value other than 0 might indicate a firmware bug or rare hardware exception.

What if dump_errors() gives me python errors?

If you get output like this:

when you call dump_errors(), you have a version mismatch between odrivetool and the firmware on your ODrive. To get the newest version of odrivetool, you can run pip install odrive --upgrade. To get the newest ODrive firmware, run odrivetool dfu. See the odrivetool page for more details.

USB Connectivity Issues

  • Try turning it off and on again (the ODrive, the script, the PC)

  • Make sure you’re using the latest firmware and python tools release

  • Linux: Type lsusb to list all USB devices. Verify that your ODrive is listed.

  • Linux: Make sure you set up your udev rules correctly.

  • Windows: Right-click on the start menu and open “Device Manager”. Verify that your ODrive is listed.

  • Windows: Use the Zadig utility to verify the driver is set to WinUSB or libusb-win32.

    Note

    There are two options listed in Zadig for ODrive: ODrive 3.x Native Interface (Interface 2) and ODrive 3.x CDC Interface (Interface 0).

    Only the driver setting of the native interface is important to odrivetool.

  • Ensure that no other ODrive program is running

  • Run odrivetool with the –verbose option.

  • Run PYUSB_DEBUG=debug odrivetool to get even more log output.

  • If you’re a developer you can use Wireshark to capture USB traffic.

  • Try a different USB cable

  • Try routing your USB cable so that it is far away from the motor and PSU cables to reduce EMI

Other Issues that may not produce an error code

Motor cuts off or spins uncontrollably at high speeds (ie: > 5000 RPM)

  • You may be approaching the limit of your encoder. The 2400 count/rotation encoders that were initially included with odrive are realistically limited to around 5000 RPM. Exceeding this speed causes the odrive to lose track of position. This can only be fixed by using an alternative encoder or gearing down the output of your motor onto your encoder so that it still sees < 5000RPM at full speed. If using the gearing options be sure to change your counts/rotation accordingly.

Motor vibrates when stationary or makes constant noise

  • Likely due to incorrect gains, specifically vel_gain may be set too high. Try following the tuning procedure.

  • Check encoder shaft connection. Grub screws may vibrate lose with time. If using a CUI shaft encoder try remounting the plastic retaining ring and confirm that it is not coming into contact with the encoder housing. Also confirm that the encoder is securely mounted.

  • If you are using a high resolution encoder (>4000 counts/rotation) then increasing encoder_pll_bandwidth may help reduce vibration.

  • If you connect your motor to an object with a large moment of inertia (such as a flywheel) this will help reduce vibrations at high gians. However, make sure that all connections are ridged. Cheap shaft couplers or belts under low tension can introduce enough flex into a system that the motor may still vibrate independently.

Motor overshoots target position or oscillates back and forth

  • Likely due to incorrect gains for a given motor current limit. Specifically pos_gain is set too high. Try following the tuning procedure.

  • Increase the current limit of your motor for more torque.

Motor slowly starts to increase in speed

  • Encoder has likely slipped. This may occur when your motor makes a hard stop or violently vibrates causing something to come lose. Power the board off and on again so that it undertakes a new calibration. If you are using an index search on startup then you will need to repeat the index calibration process.

Motor feels like it has less torque than it should and/or gets hot sitting still while under no load

  • Encoder has likely slipped causing the motor controller to commutate the wrong windings slightly which reduces output torque and produces excess heat as the motor ‘fights itself’.

  • This can also be caused if the rotor bell slips on the motor shaft. On some motors the rotor bell is secured against the shaft with a grub screw. Confirm that this screw is tight enough. For further details on how to resolve this issue see this forum post.

False steps or direction changes when using step/dir

  • Prior to Odrive board V3.5 no filtering is present on the GPIO pins used for step/dir interface and so inductively coupled noise may causes false steps to be detected. ODrive V3.5 and has onboard filtering to resolve this issue.

  • If you experience this issue use a twisted pair cable between your microcontroller that’s generating the step/dir signals and your odrive board. A section cut from cat-5 cable works well as does just twisting some normal insulated wire together.

  • Ensure that the step/dir signal cables are not draped over the odrive board, are not running in parallel to the motor or power supply cables.

  • If the above does not resolve your issue on V3.4 boards and lower try adding a ~22 Ohm resistor in series with the step and direction pins along with a ~ 4.7 nF capacitor between the ground pin and the step and dir pins such as shown here.

Index search never completes

  • There are some GPIO pin interrupt collisions on ODrive 3.6 that could cause index search to fail in certain conditions. If you are using both step/dir and index pins, we recommend disabling step_dir_always_on. For more information, see this thread.