ODrive Micro Datasheet

../_images/micro_pic.jpg

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

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.

../_images/micro_thumbnail.png

Pinout

Power Pads

Important

DC+- cannot tolerate reversed polarity, verify all power pad connections before energizing.

../_images/micro_power_pad.png

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

../_images/micro_header_labels.jpg
../_images/micro_pinout_sideview.png
  • [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 odrivetool or 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.