Supported Motors/Encoders
Hardware Compatibility
Motors
For specific information on motors sold by ODrive, see ODrive Motors.
Specification |
Value |
Notes |
|---|---|---|
Supported Motor Types |
PMAC (BLDC), ACIM |
ACIM support is currently experimental |
Temperature Measurement |
Thermistor Input |
10kΩ R25 |
Max Electrical Frequency |
800Hz |
Expected to improve with future firmware |
See also: Example Motor List (legacy, no longer updated).
Encoders
Sensorless operation is available (experimental) for applications with a minimum speed > 100RPM, see here for more information. For all other applications, encoder feedback for the motors position is required.
- Key
✓: Supported
E: Experimental
S: Coming Soon
X: Not Supported
Encoder | Interface |
Pro |
S1 |
Micro |
|
|---|---|---|---|---|
Onboard Magnetic | internal |
✓ |
✓ |
✓ |
|
Incremental |
A,B,(Z) |
✓ |
✓ |
✓ |
Sin,Cos |
3.3V analog |
X |
X |
X |
Hall Effect Sensor |
A,B,C |
✓ |
✓ |
✓ |
CUI-AMT212B-V-OD |
RS485 |
✓ |
✓ |
X |
ODrive OA1 Encoder |
RS485 |
✓ |
✓ |
X |
CUI AMT23 |
SPI |
✓ |
✓ |
✓ [1] |
AMS (AS5047p, AS5048A) |
SPI |
✓ |
✓ |
✓ [1] |
MA732, MA702 |
SPI |
✓ |
✓ |
✓ [1] |
Broadcom-AEAT-9922 |
SPI |
E |
E |
X |
TLE5012B |
SPI |
E |
E |
X |
RLS Orbis [2] |
SPI |
E |
E |
E [1] |
RLS AksIM-2 [3] |
SPI |
E |
E |
E [1] |
Celera Incoder |
SPI |
E |
E |
E [1] |
Renishaw RESOLUTE [4] |
BiSS-C |
E |
E [5] |
E [5] |
RLS AksIM-2 [4] |
BiSS-C |
E |
E [5] |
E [5] |
Generic BiSS-C [4] |
BiSS-C |
E |
E [5] |
E [5] |
RLS AM4096 |
SSI [6] |
E |
E |
E |
RLS RM08 |
SSI [6] |
E |
E |
E |
Novohall RSC-2800 |
RS422-SSI |
E |
E [5] |
E [5] |
Netzer VLP-80 |
RS422-SSI |
E |
E [5] |
E [5] |
EnDat/Tamagawa |
~ |
X |
X |
X |
[1]: The ODrive Micro does not have a dedicated SPI MOSI pin. The encoder SPI MOSI must be connected to either VCC or GND depending on the model:
AMS, CUI, RLS Orbis encoders: Connect MOSI to VCC.
MA702/MA732, RLS AksIM-2, Celera Incoder Encoders: Connect MOSI to GND.
[2]: Only 14-bit singleturn currently supported over SPI
[3]: Only singleturn currently supported over SPI
[4]: Only 18-bit Renishaw RESOLUTE and 18/19/20-bit RLS AksIM-II encoders over BiSS-C have been formally tested. As BiSS-C is a standardized protocol, other encoders and resolutions are theoretically supported, however this remains an experimental feature. If you use BiSS-C with an encoder or resolution not listed here, please let us know!
[5]: An external adapter circuit is required to connect the encoder’s differential clock and data signals to the ODrive’s single-ended GPIOs.
[6]: The AM4096 uses a single-ended SSI protocol, with standard TTL logic levels, instead of the typical RS422-level differential SSI protocol of most other encoders.
See also: Example Encoder List (legacy, no longer updated).