Warning

This documention is in the process of being updated for ODrive Pro

ODrive Pro Pinout

_images/pro_pinout.png

Notes

CAN IO

  • [1] CAN_GND must be connected to DC- at a single point (system star point) when using the CAN interface. See system grounding scheme for more details.

  • [2] CAN_12V is optional and is used to power the ODrive logic, enabling communication before the main power supply is connected. Allowed voltage range: 10V-14V

FEEBACK IO

  • [3] GND and 5V+ are filtered (ferrite/capacitor) from DC-.

Warning

[4] The differential signal pin(s) PO+, P0- are located on J8 AND J14

MISC IO

ISOLATED IO

  • ISO_GND and ISO_VDD must be connected to your other board.

  • ISO_VDD is a power Input to the isolated interface, which you should power with 3.3V or 5V.

  • Changes to the pin configuration only take effect after odrv0.save_configuration() and odrv0.reboot()

  • If a GPIO is set to an unsupported mode it will be left uninitialized.

  • When setting a GPIO to a special purpose mode (e.g. GPIO_MODE_UART_A) you must also enable the corresponding feature (e.g. <odrv>.config.enable_uart_a).

  • Digital mode is a general purpose mode that can be used for these functions: step, dir, enable, encoder index, hall effect encoder, SPI encoder nCS.

  • All GPIO pins on the ODrive Pro are 5V tolerant.

  • 5V outputs: combined draw max 600mA

Differential Interfaces [5]

Pins P0 [clock], P17 [select] and P18 [data] can be used for RS422 differential signals or as single ended connections if only the + side is used. This allows the ODrive Pro to support a wide variety of encoder interfaces, including SSI (RS422 or single ended), BiSS or RS422 SPI (half duplex only). For specific encoder protocols please refer to the list of supported encoders here.