Supported Motors/Encoders

Hardware Compatibility

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

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 [2]

SPI

E

E

E [1]

Renishaw RESOLUTE [3]

BiSS-C

E

X

X

RLS AksIM-II [3]

BiSS-C

E

X

X

Generic BiSS-C [3]

BiSS-C

E

X

X

Novohall RSC-2800

RS422-SSI

E

E [4]

E [4]

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 Encoders: Connect MOSI to GND.

  • [2]: Only 14-bit singleturn currently supported over SPI

  • [3]: Only 18-bit RLS AksIM-II and Renishaw RESOLUTE 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!

  • [4]: An external adapter circuit is required to connect the encoder’s differential clock and data signals to the ODrive’s single-ended GPIOs.