ODrive Micro Datasheet
The ODrive Micro brings the high-performance motor control of the ODrive lineup to an ultra-miniature form factor, providing up to 100W continuous power in a tiny 32mm x 32mm footprint.
A CAN interface (hardware ready for CAN-FD, firmware planned) and an onboard 12-bit magnetic encoder allows for back-of-motor mounting, creating compact and high-precision actuators.
Electromechanical Specifications
Electrical
Note
All specifications are in 0◦C ≤ TA≤ 40◦C unless otherwise noted.
Specification |
Min. |
Typ. |
Max. |
Units |
Conditions and Notes |
|---|---|---|---|---|---|
DC Voltage |
10 |
12-24 |
31 |
V |
|
Operating Motor Current |
3.5
7
|
A
|
Free air (TA 25°C)
Peak
|
||
ESD Protection |
±30
±13
±8
±16
|
kV
|
Power Lines, IEC 61000-4-2
CAN Lines, IEC 61000-4-2
USB Lines, IEC 61000-4-2
All Other Lines, IEC 61000-4-2
|
||
CAN baudrate |
8 |
Mbit/s |
Additional firmware limitations
apply, see
baud_rate. |
Physical
Specification |
Value |
Units |
Notes |
|---|---|---|---|
Mass
|
11.7
8.1
6.8
|
g
|
Euroblock Plug + Receptacle
Euroblock Receptacle
Bare Board
|
Width
Length
Height
|
32
32
7
|
mm
|
|
Mounting |
PCB
|
4x M3, 26mm x 26mm pattern
|
|
Connectors
Connector mating receptacles and crimps.
Connector |
Description |
Connector P/N |
Mating Receptacle |
Mating Crimp |
Precrimped Wire P/N |
|---|---|---|---|---|---|
Power |
Optional Screw Terminal |
OQ0532510000G |
TJ0531530000G |
N/A |
N/A |
J1 |
Motor/Encoder Feedback |
SM12B-GHS-TB |
GHR-12V-S |
SSHL-002T-P0.2 |
AGHGH28K305 |
J2,J3 |
CAN Connector |
SM04B-GHS-TB |
GHR-04V-S |
SSHL-002T-P0.2 |
AGHGH28K305 |
J4 |
SSI/SPI Connector |
SM05B-GHS-TB |
GHR-05V-S |
SSHL-002T-P0.2 |
AGHGH28K305 |
Environmental
Specification |
Value |
Notes |
|---|---|---|
Humidity |
Non-Condensing |
|
Ingress Protection |
IP00 |
CAD
The ODrive Micro CAD model is available on the ODrive Micro OnShape page.
Pinout
Power Pads
Important
DC+- cannot tolerate reversed polarity, verify all power pad connections before energizing.
Pin |
Description |
|---|---|
DC+ |
Power input, referenced to DC- |
A |
Motor phase A |
B |
Motor phase B |
C |
Motor phase C |
DC- |
Power ground |
The motor phase connections A/B/C can be connected in any order.
Logic Pins
[1] CAN PWR is a passthrough and is not connected internally by default
[2] CAN GND is a passthrough and is not connected internally by default
See CAN guide for more information on proper CAN wiring and grounding
Pin Properties & Notes
Pin(s) |
Notes |
|---|---|
ENC0 A/B/Z |
2.7kΩ pullup to +5V |
HALL A/B/C |
2.7kΩ pullup to +5V and low pass filter (τ=4.25us) |
THERMISTOR+/- |
Internal 1kΩ voltage divider for use in a thermistor sense circuit |
SPI nCS |
Only used as SPI nCS, not a user-configurable input or output |
Note: The letter G and the zero padding are not used in
odrivetoolor the web GUI, i.e. G09 would be represented by only the number 9.5V outputs: combined draw max 100mA
The ODrive Micro does not have a dedicated SPI MOSI pin. The encoder SPI MOSI pin 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.
CAN Termination and Power
By default, CAN PWR and CAN GND are passthroughs
CAN PWR and CAN GND can be connected to DC+/DC- by bridging the “J2/J3 ALT DC” solder jumpers on the bottom of the board. Note that DC+/DC- should not be connected at the same time as CAN PWR / CAN GND if this configuration is used.
A 120-ohm CAN termination resistor can be enabled by bridging the “CAN 120R” solder jumper on the bottom of the board
This allows for multiple daisy-chained ODrive Micros. Note that the internal CAN PWR / CAN GND passthrough is limited to 1A of current.