High performance motor control
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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 commanded 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 the config.vel_limit_tolerance to 0 to disable the check altogether.
ERROR_INVALID_INPUT_MODE — 0x00000002
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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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