ODrive Reference

class ODrive

test_function(delta) → int

Parameters:

delta (int) –

get_adc_voltage(gpio) → float

Reads the ADC voltage of the specified GPIO. The GPIO should be in GPIO_MODE_ANALOG_IN.}

Parameters:

gpio (int) –

save_configuration() → bool

Saves the current configuration to non-volatile memory and reboots the board.

erase_configuration()

Resets all config variables to their default values and reboots the controller

reboot()

Reboots the controller without saving the current configuraiton

enter_dfu_mode()

Enters the Device Firmware Update mode

get_interrupt_status(irqn) → int

Returns information about the specified interrupt number.

Parameters:

irqn (int) – -12…-1: processor interrupts, 0…239: NVIC interrupts

get_dma_status(stream_num) → int

Returns information about the specified DMA stream.

Parameters:

stream_num (int) – 0…7: DMA1 streams, 8…15: DMA2 streams

get_gpio_states() → int

Returns the logic states of all GPIOs. Bit i represents the state of GPIOi.

get_drv_fault() → int

clear_errors()

Clear all the errors of this device including all contained submodules.

error: Property[ODrive.Error]

vbus_voltage: Float32Property

Voltage on the DC bus as measured by the ODrive.

ibus: Float32Property

Current on the DC bus as calculated by the ODrive.

A positive value means that the ODrive is consuming power from the power supply, a negative value means that the ODrive is sourcing power to the power supply.

This value is equal to the sum of the motor currents and the brake resistor currents. The motor currents are measured, the brake resistor current is calculated based on config.brake_resistance.

ibus_report_filter_k: Float32Property

Filter gain for the reported ibus. Set to a value below 1.0 to get a smoother line when plotting ibus. Set to 1.0 to disable. This filter is only applied to the reported value and not for internal calculations.

serial_number: Uint64Property

hw_version_major: Uint8Property

hw_version_minor: Uint8Property

hw_version_variant: Uint8Property

fw_version_major: Uint8Property

fw_version_minor: Uint8Property

fw_version_revision: Uint8Property

fw_version_unreleased: Uint8Property

0 for official releases, 1 otherwise

brake_resistor_armed: BoolProperty

brake_resistor_saturated: BoolProperty

brake_resistor_current: Float32Property

Commanded brake resistor current

n_evt_sampling: Uint32Property

Number of input sampling events since startup (modulo 2^32)

n_evt_control_loop: Uint32Property

Number of control loop iterations since startup (modulo 2^32)

task_timers_armed: BoolProperty

Set by a profiling application to trigger sampling of a single control iteration. Cleared by the device as soon as the sampling is complete.

task_times: ODrive.TaskTimes

system_stats: ODrive.SystemStats

user_config_loaded: Uint32Property

misconfigured: BoolProperty

If this property is true, something is bad in the configuration. The ODrive can still be used in this state but the user should investigate which setting is problematic. This variable does not cover all misconfigurations.

Possible causes:

• A GPIO was set to a mode that it doesn’t support

• A GPIO was set to a mode for which the corresponding feature was not enabled. Example: GPIO_MODE_UART_A was used without enabling config.enable_uart_a.

• A feature was enabled which is not supported on this hardware. Example: config.enable_uart_c set to true on ODrive v3.x.

• A GPIO was used as an interrupt input for two internal components or two GPIOs that are mutually exclusive in their interrupt capability were both used as interrupt input. Example: Axis:config.step_gpio_pin of both axes were set to the same GPIO.

oscilloscope: ODrive.Oscilloscope

can: ODrive.Can

test_property: Uint32Property

otp_valid: BoolProperty

class ODrive.Error

CONTROL_ITERATION_MISSED = 1 (0x1)

At least one control iteration was missed.

The main control loop is supposed to runs at a fixed frequency. If the device is computationally overloaded (e.g. too many active components) it’s possible that one or more control iterations are skipped.

DC_BUS_UNDER_VOLTAGE = 2 (0x2)

The DC voltage fell below the limit configured in config.dc_bus_undervoltage_trip_level.

Confirm that your power leads are connected securely. For initial testing a 12V PSU which can supply a couple of amps should be sufficient while the use of low current ‘wall wart’ plug packs may lead to inconsistent behaviour and is not recommended.

You can monitor your PSU voltage using liveplotter in odrivetool by entering start_liveplotter(lambda: [odrv0.vbus_voltage]). If you see your votlage drop below config.dc_bus_undervoltage_trip_level (default: ~ 8V) then you will trip this error. Even a relatively small motor can draw multiple kW momentary and so unless you have a very large PSU or are running of a battery you may encounter this error when executing high speed movements with a high current limit. To limit your PSU power draw you can limit your motor current and/or velocity limit Axis:controller.config.vel_limit and Axis:motor.config.current_lim.

DC_BUS_OVER_VOLTAGE = 4 (0x4)

The DC voltage exceeded the limit configured in config.dc_bus_overvoltage_trip_level.

Confirm that you have a brake resistor of the correct value connected securely and that config.brake_resistance is set to the value of your brake resistor.

You can monitor your PSU voltage using liveplotter in odrivetool by entering start_liveplotter(lambda: [odrv0.vbus_voltage]). If during a move you see the voltage rise above your PSU’s nominal set voltage then you have your brake resistance set too low. This may happen if you are using long wires or small gauge wires to connect your brake resistor to your odrive which will added extra resistance. This extra resistance needs to be accounted for to prevent this voltage spike. If you have checked all your connections you can also try increasing your brake resistance by ~ 0.01 ohm at a time to a maximum of 0.05 greater than your brake resistor value.

DC_BUS_OVER_REGEN_CURRENT = 8 (0x8)

Current flowing back into the power supply exceeded config.dc_max_negative_current. This can happen if your brake resistor is disabled or unable to handle the braking current.

Check that config.enable_brake_resistor is True and that (V_power_supply / Brake_resistance) > (total motor.config.current_lim + total motor.config.current_lim_margin).

DC_BUS_OVER_CURRENT = 16 (0x10)

Too much current was pulled from the power supply. ibus exceeded config.dc_max_positive_current.

BRAKE_DEADTIME_VIOLATION = 32 (0x20)

BRAKE_DUTY_CYCLE_NAN = 64 (0x40)

INVALID_BRAKE_RESISTANCE = 128 (0x80)

config.brake_resistance is non-positive or NaN. Make sure that config.brake_resistance is a positive number.

class ODrive.TaskTimes

sampling: ODrive.TaskTimer

control_loop_misc: ODrive.TaskTimer

control_loop_checks: ODrive.TaskTimer

dc_calib_wait: ODrive.TaskTimer

class ODrive.SystemStats

uptime: Uint32Property

min_heap_space: Uint32Property

max_stack_usage_axis: Uint32Property

max_stack_usage_usb: Uint32Property

max_stack_usage_uart: Uint32Property

max_stack_usage_can: Uint32Property

max_stack_usage_startup: Uint32Property

max_stack_usage_analog: Uint32Property

stack_size_axis: Uint32Property

stack_size_usb: Uint32Property

stack_size_uart: Uint32Property

stack_size_startup: Uint32Property

stack_size_can: Uint32Property

stack_size_analog: Uint32Property

prio_axis: Int32Property

prio_usb: Int32Property

prio_uart: Int32Property

prio_startup: Int32Property

prio_can: Int32Property

prio_analog: Int32Property

usb: ODrive.SystemStats.Usb

i2c: ODrive.SystemStats.I2C

class ODrive.Config

enable_uart_a: BoolProperty

Enables/disables UART_A.

You also need to set the corresponding GPIOs to GPIO_MODE_UART_A. Refer to [interfaces](interfaces.md) to see which pins support UART_A. Changing this requires a reboot.

enable_uart_b: BoolProperty

Enables/disables UART_B.

You also need to set the corresponding GPIOs to GPIO_MODE_UART_B. Refer to [interfaces](interfaces.md) to see which pins support UART_B. Changing this requires a reboot.

enable_uart_c: BoolProperty

Not supported on ODrive v3.x.

uart_a_baudrate: Uint32Property

Defines the baudrate used on the UART interface.

Some baudrates will have a small timing error due to hardware limitations.

Here’s an (incomplete) list of baudrates for ODrive v3.x:

Configured	Actual	Error [%]
1.2 KBps	1.2 KBps	0
2.4 KBps	2.4 KBps	0
9.6 KBps	9.6 KBps	0
19.2 KBps	19.195 KBps	0.02
38.4 KBps	38.391 KBps	0.02
57.6 KBps	57.613 KBps	0.02
115.2 KBps	115.068 KBps	0.11
230.4 KBps	230.769 KBps	0.16
460.8 KBps	461.538 KBps	0.16
921.6 KBps	913.043 KBps	0.93
1.792 MBps	1.826 MBps	1.9
1.8432 MBps	1.826 MBps	0.93

For more information refer to Section 30.3.4 and Table 142 (the column with f_PCLK = 42 MHz) in the STM datasheet.

uart_b_baudrate: Uint32Property

Defines the baudrate used on the UART interface.

See uart_a_baudrate for details.

uart_c_baudrate: Uint32Property

Not supported on ODrive v3.x.

enable_can_a: BoolProperty

Enables CAN. Changing this setting requires a reboot.

enable_i2c_a: BoolProperty

Enables I2C. The I2C pins on ODrive v3.x are in conflict with CAN. This setting has no effect if enable_can_a is also true. This setting has no effect on ODrive v3.2 or earlier. Changing this setting requires a reboot.

usb_cdc_protocol: Property[ODrive.StreamProtocolType]

The protocol that’s being run on the device’s virtual COM port on USB. Note that the ODrive has two independent interfaces on USB: One is the virtual COM port (affected by this option) and the other one is a vendor specific interface which always runs Fibre. So changing this option does not affect the working of odrivetool.

uart0_protocol: Property[ODrive.StreamProtocolType]

uart1_protocol: Property[ODrive.StreamProtocolType]

uart2_protocol: Property[ODrive.StreamProtocolType]

max_regen_current: Float32Property

The bus current allowed to flow back to the power supply before the brake resistor module will start shunting current.

brake_resistance: Float32Property

Value of the brake resistor connected to the ODrive.

If you set this to a lower value than the true brake resistance then the ODrive will not meed the max_regen_current constraint during braking, that is it will sink more than max_regen_current into the power supply. Some power supplies don’t like this.

If you set this to a higher value than the true brake resistance then the ODrive will unnecessarily burn more power than required during braking.

enable_brake_resistor: BoolProperty

Enable/disable the use of a brake resistor.

Setting this to False even though a brake resistor is connected is harmless. Setting this to True even though no brake resistor is connected can break the power supply. Changes to this value require a reboot to take effect.

dc_bus_undervoltage_trip_level: Float32Property

Minimum voltage below which the motor stops operating.

dc_bus_overvoltage_trip_level: Float32Property

Maximum voltage above which the motor stops operating.

This protects against cases in which the power supply fails to dissipate the brake power if the brake resistor is disabled. The default is 26V for the 24V board version and 52V for the 48V board version.

enable_dc_bus_overvoltage_ramp: BoolProperty

Enables the DC bus overvoltage ramp feature.

If enabled, if the measured DC voltage exceeds dc_bus_overvoltage_ramp_start, the ODrive will sink more power than usual into the the brake resistor in an attempt to bring the voltage down again.

The brake duty cycle is increased by the following amount:

• ODrive:vbus_voltage == dc_bus_overvoltage_ramp_start => brake_duty_cycle += 0%

• ODrive:vbus_voltage == dc_bus_overvoltage_ramp_end => brake_duty_cycle += 100%

Remarks:

• This feature is active even when all motors are disarmed.

• This feature is disabled if brake_resistance is non-positive.

dc_bus_overvoltage_ramp_start: Float32Property

See enable_dc_bus_overvoltage_ramp.

Do not set this lower than your usual ODrive:vbus_voltage, unless you like fried brake resistors.

dc_bus_overvoltage_ramp_end: Float32Property

See enable_dc_bus_overvoltage_ramp.

Must be larger than dc_bus_overvoltage_ramp_start, otherwise the ramp feature is disabled.

dc_max_positive_current: Float32Property

Max current the power supply can source.

dc_max_negative_current: Float32Property

Max current the power supply can sink.

You most likely want a non-positive value here. Set to -INFINITY to disable. Note: This should be greater in magnitude than max_regen_current

error_gpio_pin: Uint32Property

gpio3_analog_mapping: ODrive.Endpoint

Make sure the corresponding GPIO is in GPIO_MODE_ANALOG_IN.

gpio4_analog_mapping: ODrive.Endpoint

Make sure the corresponding GPIO is in GPIO_MODE_ANALOG_IN.

class ODrive.Can

error: Property[ODrive.Can.Error]

config: ODrive.Can.Config

class ODrive.Endpoint

endpoint: EndpointRefProperty

min: Float32Property

max: Float32Property

class ODrive.Axis

watchdog_feed()

Feed the watchdog to prevent watchdog timeouts.

error: Property[ODrive.Axis.Error]

step_dir_active: BoolProperty

last_drv_fault: Uint32Property

steps: Int64Property

The current commanded position, in steps, while in step_dir mode

current_state: Property[ODrive.Axis.AxisState]

The current state of the axis

requested_state: Property[ODrive.Axis.AxisState]

The user’s commanded axis state

This is used to command the axis to change state or perform certain routines. Values input here will be “consumed” and queued by the state machine handler. Thus, reading this value back will usually show UNDEFINED (0).

is_homed: BoolProperty

Whether or not the axis has been successfully homed.

config: ODrive.Axis.Config

motor: ODrive.Motor

controller: ODrive.Controller

encoder: ODrive.Encoder

acim_estimator: ODrive.AcimEstimator

sensorless_estimator: ODrive.SensorlessEstimator

trap_traj: ODrive.TrapezoidalTrajectory

min_endstop: ODrive.Endstop

max_endstop: ODrive.Endstop

mechanical_brake: ODrive.MechanicalBrake

task_times: ODrive.Axis.TaskTimes

class ODrive.ThermistorCurrentLimiter

class ODrive.OnboardThermistorCurrentLimiter

temperature: Float32Property

config: ODrive.OnboardThermistorCurrentLimiter.Config

class ODrive.OffboardThermistorCurrentLimiter

temperature: Float32Property

config: ODrive.OffboardThermistorCurrentLimiter.Config

class ODrive.Motor

last_error_time: Float32Property

error: Property[ODrive.Motor.Error]

is_armed: BoolProperty

is_calibrated: BoolProperty

current_meas_phA: Float32Property

current_meas_phB: Float32Property

current_meas_phC: Float32Property

DC_calib_phA: Float32Property

DC_calib_phB: Float32Property

DC_calib_phC: Float32Property

I_bus: Float32Property

The current in the ODrive DC bus. This is also the current seen by the power supply in most systems.

phase_current_rev_gain: Float32Property

effective_current_lim: Float32Property

This value is the internally-limited value of phase current allowed according to the set current limit and the FET and Motor thermistor limits.

max_allowed_current: Float32Property

Indicates the maximum current that can be measured by the current sensors in the current hardware configuration. This value depends on config.requested_current_range.

max_dc_calib: Float32Property

fet_thermistor: ODrive.OnboardThermistorCurrentLimiter

motor_thermistor: ODrive.OffboardThermistorCurrentLimiter

current_control: ODrive.Motor.CurrentControl

n_evt_current_measurement: Uint32Property

Number of current measurement events since startup (modulo 2^32)

n_evt_pwm_update: Uint32Property

Number of PWM update events since startup (modulo 2^32)

config: ODrive.Motor.Config

class ODrive.Oscilloscope

get_val(index) → float

Parameters:

index (int) –

size: Uint32Property

class ODrive.AcimEstimator

rotor_flux: Float32Property

estimated magnitude of the rotor flux

slip_vel: Float32Property

estimated slip between physical and electrical angular velocity}

phase_offset: Float32Property

estimate offset between physical and electrical angular position}

stator_phase_vel: Float32Property

calculated setpoint for the electrical velocity}

stator_phase: Float32Property

calculated setpoint for the electrical phase}

config: ODrive.AcimEstimator.Config

class ODrive.Controller

move_incremental(displacement, from_input_pos)

Moves the axes’ goal point by a specified increment.

Parameters:

• displacement (float) – The desired position change.

• from_input_pos (bool) – If true, the increment is applied relative to input_pos. If false, the increment is applied relative to pos_setpoint, which usually corresponds roughly to the current position of the axis.

start_anticogging_calibration()

error: Property[ODrive.Controller.Error]

last_error_time: Float32Property

input_pos: Float32Property

Set the desired position of the axis. Only valid in CONTROL_MODE_POSITION_CONTROL.startup. In INPUT_MODE_TUNING, this acts as a DC offset for the position sine wave.

input_vel: Float32Property

In CONTROL_MODE_VELOCITY_CONTROL, sets the desired velocity of the axis. In CONTROL_MODE_POSITION_CONTROL, sets the feed-forward velocity of the velocity controller In INPUT_MODE_TUNING, this acts as a DC offset for the velocity sine wave.

input_torque: Float32Property

In CONTROL_MODE_TORQUE_CONTROL, sets the desired output torque of the axis. In CONTROL_MODE_VELOCITY_CONTROL and CONTROL_MODE_POSITION_CONTROL, sets the feed-forward torque of the torque controller. In INPUT_MODE_TUNING, this acts as a DC offset for the torque sine wave.

pos_setpoint: Float32Property

The position reference actually being used by the position controller. This is the same as input_pos in INPUT_MODE_PASSTHROUGH, but may vary according to InputMode.

vel_setpoint: Float32Property

The velocity reference actually being used by the velocity controller. This is the same as input_vel in INPUT_MODE_PASSTHROUGH, but may vary according to InputMode.

torque_setpoint: Float32Property

The torque reference actually being used by the torque controller. This is the same as input_vel in INPUT_MODE_PASSTHROUGH, but may vary according to InputMode.

trajectory_done: BoolProperty

Indicates the last commanded Trapezoidal Trajectory movement is complete.

vel_integrator_torque: Float32Property

The accumulated value of the velocity loop integrator

anticogging_valid: BoolProperty

autotuning_phase: Float32Property

The current phase angle of the INPUT_MODE_TUNING sine wave generator

config: ODrive.Controller.Config

autotuning: ODrive.Controller.Autotuning

Automatically generate sine waves for frequency-domain response tuning

mechanical_power: Float32Property

Mechanical power estimate. Torque * velocity

electrical_power: Float32Property

Electrical power estimate. Vdq·Idq

class ODrive.Encoder

set_linear_count(count)

Set the current linear position of the axis, in counts

Parameters:

count (int) –

error: Property[ODrive.Encoder.Error]

is_ready: BoolProperty

index_found: BoolProperty

shadow_count: Int32Property

Raw linear count from the encoder.

count_in_cpr: Int32Property

Raw circular count from the encoder on [0, cpr)

interpolation: Float32Property

phase: Float32Property

pos_estimate: Float32Property

Linear position estimate of the encoder, in turns. Also known as “multi-turn” position.

pos_estimate_counts: Float32Property

Linear position estimate of the encoder, in counts. Equal to pos_estimate * config.cpr

pos_circular: Float32Property

Circular position estimate of the encoder, as a decimal from [0, 1). Also known as “single-turn” position.

pos_cpr_counts: Float32Property

Circular position estimate of the encoder, on the space [0, cpr).

delta_pos_cpr_counts: Float32Property

Circular position delta of the encoder in the most recent loop. Primarily for debug purposes, it indicates much the encoder changed since the last time it was checked.

hall_state: Uint8Property

vel_estimate: Float32Property

Estimate of the linear velocity of an axis in turn/s

vel_estimate_counts: Float32Property

Estimate of the linear velocity of an axis, in counts/s.

calib_scan_response: Float32Property

pos_abs: Int32Property

The last (valid) position from an absolute encoder, if used.

spi_error_rate: Float32Property

config: ODrive.Encoder.Config

class ODrive.SensorlessEstimator

error: Property[ODrive.SensorlessEstimator.Error]

phase: Float32Property

pll_pos: Float32Property

phase_vel: Float32Property

vel_estimate: Float32Property

config: ODrive.SensorlessEstimator.Config

class ODrive.TrapezoidalTrajectory

config: ODrive.TrapezoidalTrajectory.Config

class ODrive.Endstop

endstop_state: BoolProperty

config: ODrive.Endstop.Config

class ODrive.MechanicalBrake

engage()

This function engages the mechanical brake if one is present and enabled.

release()

This function releases the mecahncal brake if one is present and enabled.

config: ODrive.MechanicalBrake.Config

class ODrive.TaskTimer

start_time: Uint32Property

end_time: Uint32Property

length: Uint32Property

max_length: Uint32Property

class ODrive.GpioMode

DIGITAL = 0 (0x0)

The pin can be used for one or more of these functions: Step, dir, enable, encoder index, hall effect encoder, SPI encoder nCS (this one is exclusive).

DIGITAL_PULL_UP = 1 (0x1)

Same as DIGITAL but with the internal pull-up resistor enabled.

DIGITAL_PULL_DOWN = 2 (0x2)

Same as DIGITAL but with the internal pull-down resistor enabled.

ANALOG_IN = 3 (0x3)

The pin can be used for one or more of these functions: Sin/cos encoders, analog input, get_adc_voltage().

UART_A = 4 (0x4)

See config.enable_uart_a.

UART_B = 5 (0x5)

This mode is not supported on ODrive v3.x.

UART_C = 6 (0x6)

This mode is not supported on ODrive v3.x.

CAN_A = 7 (0x7)

See config.enable_can_a.

I2C_A = 8 (0x8)

See config.enable_i2c_a.

SPI_A = 9 (0x9)

Note that the SPI pins on ODrive v3.x are hardwired so they cannot be configured through software. Consequently

PWM = 10 (0xA)

See config.gpio1_pwm_mapping.

ENC0 = 11 (0xB)

The pin is used by quadrature encoder 0.

ENC1 = 12 (0xC)

The pin is used by quadrature encoder 1.

ENC2 = 13 (0xD)

This mode is not supported on ODrive v3.x.

MECH_BRAKE = 14 (0xE)

This is to support external mechanical brakes.

STATUS = 15 (0xF)

The pin is used for status output (see config.error_gpio_pin)

class ODrive.StreamProtocolType

Fibre = 0 (0x0)

Machine-to-machine protocol which gives access to all features of the ODrive. This protocol is used by the official odrivetool and GUI. Developers who wish to interact with this protocol are advised to do so through libfibre.

Ascii = 1 (0x1)

Human readable protocol designed for easy implementation for cases where the use of libfibre is not desired or feasible. Refer to [this page](ascii-protocol.md) for details.

Stdout = 2 (0x2)

Output of printf(). Only intended for developers who modify ODrive firmware.

AsciiAndStdout = 3 (0x3)

Combination of Ascii and Stdout.

class ODrive.SystemStats.Usb

rx_cnt: Uint32Property

tx_cnt: Uint32Property

tx_overrun_cnt: Uint32Property

class ODrive.SystemStats.I2C

addr: Uint8Property

addr_match_cnt: Uint32Property

rx_cnt: Uint32Property

error_cnt: Uint32Property

class ODrive.Can.Error

DUPLICATE_CAN_IDS = 1 (0x1)

class ODrive.Can.Config

baud_rate: Uint32Property

protocol: Property[ODrive.Can.Protocol]

class ODrive.Can.Protocol

SIMPLE = 1 (0x1)

CANSimple, an ODrive-specific protocol for basic functionality

class ODrive.Axis.Error

INVALID_STATE = 1 (0x1)

An invalid state was requested.

You tried to run a state before you are allowed to. Typically you tried to run encoder calibration or closed loop control before the motor was calibrated, or you tried to run closed loop control before the encoder was calibrated.

WATCHDOG_TIMER_EXPIRED = 2048 (0x800)

The axis watchdog timer expired.

An amount of time greater than config.watchdog_timeout passed without the watchdog being fed.

MIN_ENDSTOP_PRESSED = 4096 (0x1000)

The min endstop was pressed

MAX_ENDSTOP_PRESSED = 8192 (0x2000)

The max endstop was pressed

ESTOP_REQUESTED = 16384 (0x4000)

The estop message was sent over CAN

HOMING_WITHOUT_ENDSTOP = 131072 (0x20000)

the min endstop was not enabled during homing

OVER_TEMP = 262144 (0x40000)

Check motor.error for more details.

UNKNOWN_POSITION = 524288 (0x80000)

There isn’t a valid position estimate available.

class ODrive.Axis.Config

startup_motor_calibration: BoolProperty

Run motor calibration at startup, skip otherwise

startup_encoder_index_search: BoolProperty

Run encoder index search after startup, skip otherwise this only has an effect if encoder.config.use_index is also true

startup_encoder_offset_calibration: BoolProperty

Run encoder offset calibration after startup, skip otherwise

startup_closed_loop_control: BoolProperty

Enable closed loop control after calibration/startup

startup_homing: BoolProperty

Enable homing after calibration/startup

enable_step_dir: BoolProperty

Enable step/dir input after calibration. Make sure to set the corresponding GPIO’s mode to GPIO_MODE_DIGITAL.

step_dir_always_on: BoolProperty

Keep step/dir enabled while the motor is disabled. This is ignored if enable_step_dir is false. This setting only takes effect on a state transition into idle or out of closed loop control.

enable_sensorless_mode: BoolProperty

watchdog_timeout: Float32Property

enable_watchdog: BoolProperty

step_gpio_pin: Uint16Property

dir_gpio_pin: Uint16Property

calibration_lockin: ODrive.Axis.Config.CalibrationLockin

sensorless_ramp: ODrive.Axis.LockinConfig

general_lockin: ODrive.Axis.LockinConfig

can: ODrive.Axis.CanConfig

class ODrive.Axis.TaskTimes

thermistor_update: ODrive.TaskTimer

encoder_update: ODrive.TaskTimer

sensorless_estimator_update: ODrive.TaskTimer

endstop_update: ODrive.TaskTimer

can_heartbeat: ODrive.TaskTimer

controller_update: ODrive.TaskTimer

open_loop_controller_update: ODrive.TaskTimer

acim_estimator_update: ODrive.TaskTimer

motor_update: ODrive.TaskTimer

current_controller_update: ODrive.TaskTimer

dc_calib: ODrive.TaskTimer

current_sense: ODrive.TaskTimer

pwm_update: ODrive.TaskTimer

class ODrive.Axis.LockinConfig

current: Float32Property

ramp_time: Float32Property

ramp_distance: Float32Property

accel: Float32Property

vel: Float32Property

finish_distance: Float32Property

finish_on_vel: BoolProperty

finish_on_distance: BoolProperty

finish_on_enc_idx: BoolProperty

class ODrive.Axis.CanConfig

node_id: Uint32Property

is_extended: BoolProperty

heartbeat_rate_ms: Uint32Property

encoder_rate_ms: Uint32Property

class ODrive.Axis.AxisState

UNDEFINED = 0 (0x0)

will fall through to idle

IDLE = 1 (0x1)

Disable motor PWM and do nothing.

STARTUP_SEQUENCE = 2 (0x2)

Run the startup procedure.

the actual sequence is defined by the config.startup… flags

FULL_CALIBRATION_SEQUENCE = 3 (0x3)

Run motor calibration and then encoder offset calibration (or encoder index search if <axis>.encoder.config.use_index is True).

MOTOR_CALIBRATION = 4 (0x4)

Measure phase resistance and phase inductance of the motor.

• To store the results set motor.config.pre_calibrated to True

and save the configuration (save_configuration()). After that you don’t have to run the motor calibration on the next start up. * This modifies the variables motor.config.phase_resistance and motor.config.phase_inductance.

ENCODER_INDEX_SEARCH = 6 (0x6)

Turn the motor in one direction until the encoder index is traversed.

This state can only be entered if encoder.config.use_index is True.

ENCODER_OFFSET_CALIBRATION = 7 (0x7)

Turn the motor in one direction for a few seconds and then back to measure the offset between the encoder position and the electrical phase.

• Can only be entered if the motor is calibrated (motor.is_calibrated).

• A successful encoder calibration will make the encoder.is_ready

go to true.

CLOSED_LOOP_CONTROL = 8 (0x8)

Run closed loop control.

• The action depends on the controller.config.control_mode.

• Can only be entered if the motor is calibrated

(motor.is_calibrated) and the encoder is ready (encoder.is_ready).

LOCKIN_SPIN = 9 (0x9)

Run lockin spin.

Can only be entered if the motor is calibrated (motor.is_calibrated) or the motor direction is unspecified (encoder.config.direction == 1)

ENCODER_DIR_FIND = 10 (0xA)

Run encoder direction search.

Can only be entered if the motor is calibrated (motor.is_calibrated).

HOMING = 11 (0xB)

Run axis homing function.

Endstops must be enabled to use this feature.

ENCODER_HALL_POLARITY_CALIBRATION = 12 (0xC)

Rotate the motor in lockin and calibrate hall polarity

ODrive assumes 120 degree electrical hall spacing. This routine determines if that is the case and sets the polarity if the halls are on 60 degree electrical spacing

ENCODER_HALL_PHASE_CALIBRATION = 13 (0xD)

Rotate the motor for 30s to calibrate hall sensor edge offsets

The phase offset is not calibrated at this time, so the map is only relative

class ODrive.Axis.Config.CalibrationLockin

current: Float32Property

ramp_time: Float32Property

ramp_distance: Float32Property

accel: Float32Property

vel: Float32Property

class ODrive.OnboardThermistorCurrentLimiter.Config

temp_limit_lower: Float32Property

The lower limit when the controller starts limiting current.

temp_limit_upper: Float32Property

The upper limit when current limit reaches 0 Amps and an over temperature error is triggered.

enabled: BoolProperty

Whether this thermistor is enabled.

class ODrive.OffboardThermistorCurrentLimiter.Config

gpio_pin: Uint16Property

poly_coefficient_0: Float32Property

poly_coefficient_1: Float32Property

poly_coefficient_2: Float32Property

poly_coefficient_3: Float32Property

temp_limit_lower: Float32Property

The lower limit when the controller starts limiting current.

temp_limit_upper: Float32Property

The upper limit when current limit reaches 0 Amps and an over temperature error is triggered.

enabled: BoolProperty

Whether this thermistor is enabled.

class ODrive.Motor.Error

PHASE_RESISTANCE_OUT_OF_RANGE = 1 (0x1)

The measured motor phase resistance is outside of the plausible range.

During calibration the motor resistance and [inductance](https://en.wikipedia.org/wiki/Inductance) is measured. If the measured motor resistance or inductance falls outside a set range this error will be returned. Check that all motor leads are connected securely.

The measured values can be viewed using odrivetool as is shown below: ``` In [2]: odrv0.axis0.motor.config.phase_inductance Out[2]: 1.408751450071577e-05

In [3]: odrv0.axis0.motor.config.phase_resistance Out[3]: 0.029788672924041748 ``` Some motors will have a considerably different phase resistance and inductance than this. For example, gimbal motors, some small motors (e.g. < 10A peak current). If you think this applies to you try increasing config.resistance_calib_max_voltage from its default value of 1 using odrivetool and repeat the motor calibration process. If your motor has a small peak current draw (e.g. < 20A) you can also try decreasing config.calibration_current from its default value of 10A.

In general, you need `text resistance_calib_max_voltage > calibration_current * phase_resistance resistance_calib_max_voltage < 0.5 * vbus_voltage `

PHASE_INDUCTANCE_OUT_OF_RANGE = 2 (0x2)

The measured motor phase inductance is outside of the plausible range.

See PHASE_RESISTANCE_OUT_OF_RANGE for details.

DRV_FAULT = 8 (0x8)

The gate driver chip reported an error.

The ODrive v3.4 is known to have a hardware issue whereby the motors would stop operating when applying high currents to M0. The reported error of both motors in this case is ERROR_DRV_FAULT.

The conjecture is that the high switching current creates large ripples in the power supply of the DRV8301 gate driver chips, thus tripping its under-voltage fault detection.

To resolve this issue you can limit the M0 current to 40A. The lowest current at which the DRV fault was observed is 45A on one test motor and 50A on another test motor. Refer to [this post](https://discourse.odriverobotics.com/t/drv-fault-on-odrive-v3-4/558) for instructions for a hardware fix.

CONTROL_DEADLINE_MISSED = 16 (0x10)

MODULATION_MAGNITUDE = 128 (0x80)

The bus voltage was insufficent to push the requested current through the motor. If you are getting this during motor calibration, make sure that config.resistance_calib_max_voltage is no more than half your bus voltage.

For gimbal motors, it is recommended to set the config.calibration_current and config.current_lim to half your bus voltage, or less.

CURRENT_SENSE_SATURATION = 1024 (0x400)

The current sense circuit saturated the current sense amplifier. This can be caused by setting config.current_lim higher than config.requested_current_range. If this happens, increase the requested current range, save the configuration, and reboot the controller.

CURRENT_LIMIT_VIOLATION = 4096 (0x1000)

The motor current exceeded motor.config.current_lim + motor.config.current_lim_margin. The current controller is a PI controller, so it can experience overshoot. The PI gains are automatically calculated based on config.current_control_bandwidth and the motor resistance and inductance (pole placement). Some overshoot is normal, so a sensible solution is to increase the current limit margin if your current limit is large.

MODULATION_IS_NAN = 65536 (0x10000)

MOTOR_THERMISTOR_OVER_TEMP = 131072 (0x20000)

The motor thermistor measured a temperature above motor.motor_thermistor.config.temp_limit_upper

FET_THERMISTOR_OVER_TEMP = 262144 (0x40000)

The inverter thermistor measured a temperature above motor.fet_thermistor.config.temp_limit_upper

TIMER_UPDATE_MISSED = 524288 (0x80000)

A timer update event was missed. Perhaps the previous timer update took too much time. This is not expected in official release firmware.

CURRENT_MEASUREMENT_UNAVAILABLE = 1048576 (0x100000)

The phase current measurement is not available. The ADC failed to sample the current sensor in time. This is not expected in official release firmware.

CONTROLLER_FAILED = 2097152 (0x200000)

The motor was disarmed because the underlying controller failed. Usually this is the FOC controller.

I_BUS_OUT_OF_RANGE = 4194304 (0x400000)

The DC current sourced/sunk by this motor exceeded the configured hard limits. More specifically I_bus fell outside of the range config.I_bus_hard_min … config.I_bus_hard_max.

BRAKE_RESISTOR_DISARMED = 8388608 (0x800000)

An attempt was made to run the motor PWM while the brake resistor was configured as enabled (config.enable_brake_resistor) but disarmed.

The most common cause is that you just set config.enable_brake_resistor to True but didn’t arm the brake resistor yet (by either rebooting or running odrvX.clear_errors()).

Otherwise, the brake resistor can be disarmed due to various system-wide errors. The root cause will usually show up under system when you run dump_errors(odrvX).

To re-arm the brake resistor reboot the ODrive or run odrvX.clear_errors().

SYSTEM_LEVEL = 16777216 (0x1000000)

The motor had to be disarmed because of a system level error. See ODrive:error for more details.

BAD_TIMING = 33554432 (0x2000000)

The main control loop got out of sync with the motor control loop. This could indicate that the main control loop got stuck.

UNKNOWN_PHASE_ESTIMATE = 67108864 (0x4000000)

The current controller did not get a valid angle input. Maybe you didn’t calibrate the encoder.

UNKNOWN_PHASE_VEL = 134217728 (0x8000000)

The motor controller did not get a valid phase velocity input.

UNKNOWN_TORQUE = 268435456 (0x10000000)

The motor controller did not get a valid torque input.

UNKNOWN_CURRENT_COMMAND = 536870912 (0x20000000)

The current controller did not get a valid current setpoint. Maybe you didn’t configure the controller correctly.

UNKNOWN_CURRENT_MEASUREMENT = 1073741824 (0x40000000)

The current controller did not get a valid current measurement.

UNKNOWN_VBUS_VOLTAGE = 2147483648 (0x80000000)

The current controller did not get a valid ODrive:vbus_voltage measurement.

UNKNOWN_VOLTAGE_COMMAND = 4294967296 (0x100000000)

The current controller did not get a valid feedforward voltage setpoint.

UNKNOWN_GAINS = 8589934592 (0x200000000)

The current controller gains were not configured. Run motor calibration or set config.phase_resistance and config.phase_inductance manually.

CONTROLLER_INITIALIZING = 17179869184 (0x400000000)

Internal value used while the controller is not yet ready to generate PWM timings.

UNBALANCED_PHASES = 34359738368 (0x800000000)

The motor phases are not balanced.

class ODrive.Motor.CurrentControl

p_gain: Float32Property

i_gain: Float32Property

I_measured_report_filter_k: Float32Property

Id_setpoint: Float32Property

Iq_setpoint: Float32Property

Vd_setpoint: Float32Property

Vq_setpoint: Float32Property

phase: Float32Property

phase_vel: Float32Property

Ialpha_measured: Float32Property

Ibeta_measured: Float32Property

Id_measured: Float32Property

The phase current measured along the “d” axis in the FOC control loop. This should be close to 0 for typical surface permanent magnet motors.

Iq_measured: Float32Property

The phase current measured along the “q” axis in the FOC control loop. This is the torque-generating current, so motor torque is approx. torque_constant * Iq_measured

power: Float32Property

The electrical power being delivered to the motor

v_current_control_integral_d: Float32Property

v_current_control_integral_q: Float32Property

final_v_alpha: Float32Property

final_v_beta: Float32Property

class ODrive.Motor.Config

pre_calibrated: BoolProperty

Indicates to the ODrive that the parameters config.phase_resistance and config.phase_inductance are valid at system start. If these are valid and pre_calibrated is set to True, motor calibration can be skipped.

pole_pairs: Int32Property

The number of pole pairs in the motor. Note this is equal to 1/2 of the number of magnets (not coils!) in a typical hobby motor.

calibration_current: Float32Property

The current used to measure resistance during AXIS_STATE_MOTOR_CALIBRATION.

resistance_calib_max_voltage: Float32Property

The maximum voltage allowed during AXIS_STATE_MOTOR_CALIBRATION. This should be set to less than (0.5 * vbus_voltage), but high enough to satisfy V=IR during motor calibration, where I is config.calibration_current and R is config.phase_resistance

phase_inductance: Float32Property

phase_resistance: Float32Property

torque_constant: Float32Property

motor_type: Property[ODrive.Motor.MotorType]

current_lim: Float32Property

Maximum commanded current allowed

current_lim_margin: Float32Property

Maximum measured current allowed above current_lim. Any value above current_lim + curren_lim_margin will throw a CURRENT_LIMIT_VIOLATION error.

torque_lim: Float32Property

Maximum commanded torque allowed in the torque loop.

inverter_temp_limit_lower: Float32Property

Not implemented.

inverter_temp_limit_upper: Float32Property

Not implemented.

requested_current_range: Float32Property

The minimum phase current range expected to be measured. This is used to set the current shunt amplifier gains. This should be set > current_lim + curren_lim_margin, but as low as possible to maximize precision and accuracy of the controller.

current_control_bandwidth: Float32Property

Sets the PI gains of the Q and D axis FOC control according to phase_resistance and phase_inductance to create a critically-damped controller with a -3dB bandwidth at this frequency.

acim_gain_min_flux: Float32Property

acim_autoflux_min_Id: Float32Property

acim_autoflux_enable: BoolProperty

acim_autoflux_attack_gain: Float32Property

acim_autoflux_decay_gain: Float32Property

R_wL_FF_enable: BoolProperty

Enables automatic feedforward of the R*wL term in the current controller.

bEMF_FF_enable: BoolProperty

Enables automatic feedforward of the bEMF term in the current controller.

I_bus_hard_min: Float32Property

If the controller fails to keep this motor’s DC current (ODrive.Motor:I_bus) above this value the motor gets disarmed immediately. Most likely you want a negative value here. Set to -inf to disable. Take noise into account when chosing a value.

I_bus_hard_max: Float32Property

If the controller fails to keep this motor’s DC current (ODrive.Motor:I_bus) below this value the motor gets disarmed immediately. Usually this is set in conjunction with I_bus_hard_min. Set to inf to disable. Take noise into account when chosing a value.

I_leak_max: Float32Property

In almost all scenarios, the currents on phase A, B and C should add up to zero. A small amount of measurement noise is expected. However if the sum of A, B, C currents exceeds this configuration value, the motor gets disarmed immediately.

Note that this feature is only works on devices with three current sensors (e.g. ODrive v4).

dc_calib_tau: Float32Property

class ODrive.Motor.MotorType

HIGH_CURRENT = 0 (0x0)

Used for all standard “hobby-style” motors Permanant Magnet AC (PMAC) or Brushless DC (BLDC) motors. This is the default. Note: Assumes sinusoidal back-EMF, “wye” connected motors. Trapezoidal bEMF may have reduced controllability.

GIMBAL = 2 (0x2)

Enables voltage-only FOC where V=IR can be assumed to be correct. Used for high-phase-resistance motors (> 1 ohm), which are typically sold as “Gimbal” motors.

ACIM = 3 (0x3)

Used for FOC control of AC Induction Motors (ACIM), aka Asynchronous motors,

class ODrive.AcimEstimator.Config

slip_velocity: Float32Property

class ODrive.Controller.Error

OVERSPEED = 1 (0x1)

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.

INVALID_INPUT_MODE = 2 (0x2)

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.

UNSTABLE_GAIN = 4 (0x4)

motor.config.bandwidth was set too high to create a stable controller.

INVALID_MIRROR_AXIS = 8 (0x8)

An invalid axis_to_mirror was selected

INVALID_LOAD_ENCODER = 16 (0x10)

An invalid load_encoder_axis was selected

INVALID_ESTIMATE = 32 (0x20)

Indicates the encoder estimation module declined to output a linear position or velocity value and the exception was caught.

INVALID_CIRCULAR_RANGE = 64 (0x40)

Indicates the encoder estimation module declined to output a circular position value and the exception was caught.

SPINOUT_DETECTED = 128 (0x80)

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.

class ODrive.Controller.Config

gain_scheduling_width: Float32Property

enable_vel_limit: BoolProperty

enable_torque_mode_vel_limit: BoolProperty

Enable velocity limit in torque control mode (requires a valid velocity estimator).

enable_gain_scheduling: BoolProperty

Enable the experimental “gain scheduling” module, which reduces the pos_gain, vel_gain, and vel_integrator_gain according to the position error. Also known as “anti-hunt”

enable_overspeed_error: BoolProperty

Enables the velocity controller’s overspeed error

control_mode: Property[ODrive.Controller.ControlMode]

input_mode: Property[ODrive.Controller.InputMode]

pos_gain: Float32Property

units = (turn/s) / turn

vel_gain: Float32Property

units = N·m / (turn/s)

vel_integrator_gain: Float32Property

units = N·m / (turn/s * s)

vel_integrator_limit: Float32Property

Limit the integrator output (independent of proportional gain output). Set to infinity to disable. Units = N·m

vel_limit: Float32Property

Infinity to disable.

vel_limit_tolerance: Float32Property

Ratio to vel_limit. Infinity to disable.

vel_ramp_rate: Float32Property

torque_ramp_rate: Float32Property

circular_setpoints: BoolProperty

circular_setpoint_range: Float32Property

circular range in [turns] for position setpoints when circular_setpoints is True

steps_per_circular_range: Int32Property

Number of steps within the circular setpoint range. Set this and the circular setpoint range to powers of 2 for the best results.

homing_speed: Float32Property

The speed at which the axis moves towards the min_endstop during AXIS_STATE_HOMING

inertia: Float32Property

axis_to_mirror: Uint8Property

The axis used for mirroring when in INPUT_MODE_MIRROR

mirror_ratio: Float32Property

The ratio applied to position and velocity movements of the mirrored axis. To reverse movements, use a negative value

torque_mirror_ratio: Float32Property

The ratio applied to torque values of the mirrored axis.

load_encoder_axis: Uint8Property

Default depends on Axis number and is set in load_configuration()

input_filter_bandwidth: Float32Property

The desired bandwidth for INPUT_MODE_POS_FILTER.

Sets the position filter’s P and I gains to emulate a critically-damped 2nd order mass-spring-damper motion.

anticogging: ODrive.Controller.Config.Anticogging

mechanical_power_bandwidth: Float32Property

Bandwidth for mechanical power estimate. Used for spinout detection

electrical_power_bandwidth: Float32Property

Bandwidth for electrical power estimate. Used for spinout detection. Dot product of Vdq and Idq

spinout_mechanical_power_threshold: Float32Property

Mechanical power threshold for spinout detection. This should be a negative value

spinout_electrical_power_threshold: Float32Property

Electrical power threshold for spinout detection. This should be a positive value

class ODrive.Controller.Autotuning

frequency: Float32Property

pos_amplitude: Float32Property

vel_amplitude: Float32Property

torque_amplitude: Float32Property

class ODrive.Controller.ControlMode

VOLTAGE_CONTROL = 0 (0x0)

Note: This mode is not used internally. For voltage-only FOC, use MotorType.GIMBAL

TORQUE_CONTROL = 1 (0x1)

Uses only the inner torque control loop. Use input_torque to command desired torque. Note the setting motor.config.torque_constant. Note the setting enable_torque_mode_vel_limit.

VELOCITY_CONTROL = 2 (0x2)

Uses both the inner torque control loop and the velocity control loop. Use input_vel to command desired velocity, and input_torque.

POSITION_CONTROL = 3 (0x3)

Uses the inner torque loop, the velocity control loop, and the outer position control loop. Use input_pos to command desired position, input_vel to command velocity feed-forward, and input_torque for torque feed-forward.

class ODrive.Controller.InputMode

INACTIVE = 0 (0x0)

Disable inputs. Setpoints retain their last value.

PASSTHROUGH = 1 (0x1)

Pass input_xxx through to xxx_setpoint directly.

### Valid Inputs: * input_pos * input_vel * input_torque

### Valid Control modes: * CONTROL_MODE_VOLTAGE_CONTROL * CONTROL_MODE_TORQUE_CONTROL * CONTROL_MODE_VELOCITY_CONTROL * CONTROL_MODE_POSITION_CONTROL

VEL_RAMP = 2 (0x2)

Ramps a velocity command from the current value to the target value.

### Configuration Values: * config.vel_ramp_rate [turn/s] * config.inertia [N·m/(turn/s^2))]

### Valid inputs: * input_vel

### Valid Control Modes: * CONTROL_MODE_VELOCITY_CONTROL

POS_FILTER = 3 (0x3)

Implements a 2nd order position tracking filter.

Intended for use with step/dir interface, but can also be used with position-only commands.

 Result of a step command from 1000 to 0

### Configuration Values: * config.input_filter_bandwidth * config.inertia

### Valid inputs: * input_pos

### Valid Control modes: * CONTROL_MODE_POSITION_CONTROL

MIX_CHANNELS = 4 (0x4)

Not Implemented.

TRAP_TRAJ = 5 (0x5)

Implementes an online trapezoidal trajectory planner.


### Configuration Values: * Axis:trap_traj.config.vel_limit * Axis:trap_traj.config.accel_limit * Axis:trap_traj.config.decel_limit * config.inertia

### Valid Inputs: * input_pos

### Valid Control Modes: * CONTROL_MODE_POSITION_CONTROL

TORQUE_RAMP = 6 (0x6)

Ramp a torque command from the current value to the target value.

### Configuration Values: * config.torque_ramp_rate

### Valid Inputs: * input_torque

### Valid Control Modes: * CONTROL_MODE_TORQUE_CONTROL

MIRROR = 7 (0x7)

Implements “electronic mirroring”.

This is like electronic camming, but you can only mirror exactly the movements of the other motor, according to a fixed ratio.

[](http://www.youtube.com/watch?v=D4_vBtyVVzM “Example Mirroring Video”)

### Configuration Values * config.axis_to_mirror * config.mirror_ratio

### Valid Inputs * None. Inputs are taken directly from the other axis encoder estimates

### Valid Control modes * CONTROL_MODE_POSITION_CONTROL * CONTROL_MODE_VELOCITY_CONTROL * CONTROL_MODE_TORQUE_CONTROL

TUNING = 8 (0x8)

Implements a tuning mode

Used for tuning your odrive, this mode allows the user to set different frequencies. Set control_mode for the loop you want to tune, then set the frequency desired. The ODrive will send a 1 turn amplitude sine wave to the controller with the given frequency and phase.

class ODrive.Controller.Config.Anticogging

index: Uint32Property

pre_calibrated: BoolProperty

calib_anticogging: BoolProperty

calib_pos_threshold: Float32Property

calib_vel_threshold: Float32Property

cogging_ratio: Float32Property

anticogging_enabled: BoolProperty

class ODrive.Encoder.Error

UNSTABLE_GAIN = 1 (0x1)

CPR_POLEPAIRS_MISMATCH = 2 (0x2)

Confirm you have entered the correct count per rotation (CPR) for [your encoder](https://docs.odriverobotics.com/encoders). The ODrive uses your supplied value for the motor pole pairs to measure the CPR. So you should also double check this value.

If you are still having issues, you can try to increase config.calib_scan_distance up to a factor of 4 above the default.

If your encoder cpr and motor pole pair settings are correct, this error can be caused because motor cogging makes the motor move less or more than commanded. You can fix this by increasing config.calib_scan_distance.

Note that the AMT encoders are configurable using the micro- switches on the encoder PCB and so you may need to check that these are in the right positions. If your encoder lists its pulse per rotation (PPR) multiply that number by four to get CPR.

NO_RESPONSE = 4 (0x4)

Confirm that your encoder is plugged into the right pins on the ODrive board.

UNSUPPORTED_ENCODER_MODE = 8 (0x8)

ILLEGAL_HALL_STATE = 16 (0x10)

Hall effect encoder only have 6 valid states out of 8 (2^3) possible states. An invalid state can be caused by noise or a hardware fault. If you get this error and you are sure that your electrical connections are correct, add 22nF capacitors between the encoder A,B,Z pins and ground to filter out noise.

INDEX_NOT_FOUND_YET = 32 (0x20)

Check that your encoder is a model that has an index pulse. If your encoder does not have a wire connected to pin Z on your ODrive then it does not output an index pulse.

ABS_SPI_TIMEOUT = 64 (0x40)

ABS_SPI_COM_FAIL = 128 (0x80)

ABS_SPI_NOT_READY = 256 (0x100)

HALL_NOT_CALIBRATED_YET = 512 (0x200)

class ODrive.Encoder.Config

mode: Property[ODrive.Encoder.Mode]

use_index: BoolProperty

Set this to True when using an encoder with an index pin to allow pre-calibration of the encoder and encoder index search.

index_offset: Float32Property

When the index is found, the linear position of the axis will be set to this value if use_index_offset is set to True.

use_index_offset: BoolProperty

Set this to True to have the axis set the linear position of the axis to index_offset when the index is found during encoder index search

find_idx_on_lockin_only: BoolProperty

abs_spi_cs_gpio_pin: Uint16Property

Make sure that the GPIO is in GPIO_MODE_DIGITAL.

cpr: Int32Property

Counts per Revolution of the encoder. This is 4x the Pulses per Revolution.

phase_offset: Int32Property

phase_offset_float: Float32Property

direction: Int32Property

pre_calibrated: BoolProperty

enable_phase_interpolation: BoolProperty

bandwidth: Float32Property

calib_range: Float32Property

The error threshold for encoder offset calibration, in turns. If the

calib_scan_distance: Float32Property

The distance the motor is turned during encoder offset calibration. This is in the electrical frame, so if you want a 7pp motor to turn 1 mechanical revolution, you would put (7 * 2*pi)

calib_scan_omega: Float32Property

The speed the motor turns during encoder offset calibration. This is in the electrical frame, so a 7pp motor rotating 1 mechanical revolution in 2 sec would be set to (7 * 2*pi) / 2

ignore_illegal_hall_state: BoolProperty

Ignore the error “Illegal Hall State”

hall_polarity: Uint8Property

hall_polarity_calibrated: BoolProperty

sincos_gpio_pin_sin: Uint16Property

Analog sine signal of a sin/cos encoder. The corresponding GPIO must be in GPIO_MODE_ANALOG_IN.

sincos_gpio_pin_cos: Uint16Property

Analog cosine signal of a sin/cos encoder. The corresponding GPIO must be in GPIO_MODE_ANALOG_IN.

class ODrive.Encoder.Mode

INCREMENTAL = 0 (0x0)

HALL = 1 (0x1)

SINCOS = 2 (0x2)

SPI_ABS_CUI = 256 (0x100)

Compatible with CUI AMT23xx

SPI_ABS_AMS = 257 (0x101)

Compatible with AMS AS5047P, AS5048A/AS5048B (no daisy chain support)

SPI_ABS_AEAT = 258 (0x102)

Supports AEAT-8800

SPI_ABS_RLS = 259 (0x103)

Supports RLS Orbis Encoders

SPI_ABS_MA732 = 260 (0x104)

MagAlpha MA732 magnetic encoder

class ODrive.SensorlessEstimator.Error

UNSTABLE_GAIN = 1 (0x1)

UNKNOWN_CURRENT_MEASUREMENT = 2 (0x2)

class ODrive.SensorlessEstimator.Config

observer_gain: Float32Property

pll_bandwidth: Float32Property

pm_flux_linkage: Float32Property

class ODrive.TrapezoidalTrajectory.Config

vel_limit: Float32Property

accel_limit: Float32Property

decel_limit: Float32Property

class ODrive.Endstop.Config

gpio_num: Uint16Property

Make sure the corresponding GPIO is in GPIO_MODE_DIGITAL.

enabled: BoolProperty

offset: Float32Property

is_active_high: BoolProperty

debounce_ms: Uint32Property

class ODrive.MechanicalBrake.Config

gpio_num: Uint16Property

is_active_low: BoolProperty