High performance motor control
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Motor speed exceeded config.vel_limit * config.vel_limit_tolerance and config.enable_overspeed_error was enabled.
Try increasing config.vel_limit. The default of 2 turns per second gives a motor speed of only 120 RPM. Note: Even if you do not command your motor to exceed config.vel_limit, sudden changes in the load placed on a motor may cause this speed to be temporarily exceeded, resulting in this error.
You can also try increasing config.vel_limit_tolerance. The default value of 1.2 means it will only allow a 20% violation of the speed limit. You can set config.enable_overspeed_error to False to disable this error.
ERROR_INVALID_INPUT_MODE — 0x00000002
The config.input_mode setting was set to an invalid value. See InputMode for available values
Input modes and control modes are separate concepts. A control mode sets the type of control to be used, like position, velocity, or torque control. Input modes modify the input given (input_pos, etc) to give desired behavior. For example, in position control mode, the position filter input mode will smooth out input_pos commands to give smoother motion.
ERROR_UNSTABLE_GAIN — 0x00000004
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ERROR_INVALID_MIRROR_AXIS — 0x00000008
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ERROR_INVALID_LOAD_ENCODER — 0x00000010
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ERROR_INVALID_ESTIMATE — 0x00000020
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ERROR_INVALID_CIRCULAR_RANGE — 0x00000040
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ERROR_SPINOUT_DETECTED — 0x00000080
The motor mechanical power and electrical power do not agree. This is usually caused by a slipping encoder or incorrect encoder offset calibration. Check that your encoder is not slipping on the motor. If using an Index pin, check that you are not getting false index pulses caused by noise. This can happen if you are using unshielded cable for the encoder signals.