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odriverobotics
No axis error via CAN heartbeat when motor is disconnected
Describe the bug When the motor is disconnected from the ODrive (motor and encoder), the CAN interface still sends heartbeat messages with "axis error" 0. The only indicator that something happened is the "axis current state" changing from "closed loop" to "idle". Meanwhile, the ODriveTool yields multiple errors:
In [7]: dump_errors(odrv0)
system: no error
axis0
axis: no error
motor: Error(s):
MotorError.UNKNOWN_TORQUE
MotorError.UNKNOWN_VOLTAGE_COMMAND
DRV fault: none
sensorless_estimator: no error
encoder: Error(s):
EncoderError.ILLEGAL_HALL_STATE
controller: Error(s):
ControllerError.INVALID_ESTIMATE
axis1
axis: no error
motor: no error
DRV fault: none
sensorless estimator: no error
encoder: no error
controller: no error
To Reproduce Bring an axis into "closed loop" state. Unplug the motor including its encoder from the ODrive while listening to the CAN heartbeat.
Expected behavior I would expect a non-zero axis error in the CAN heartbeat message.
Desktop
- OS: Ubuntu 18.04.5 LTS
- odrivetool Version: 0.6.1
Additional context We use a single cable with a 9-pin connector for connecting motor and encoder to the ODrive.
Were you trying with firmware v0.5.4 or with the latest devel? I believe on devel this issue should already be fixed as we added back the AXIS_ERROR_MOTOR_FAILED flag.
