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 ≤ T_A≤ 40◦C unless otherwise noted.

Specification	Min.	Typ.	Max.	Units	Conditions and Notes
DC Voltage	10	12-24	31	V
Maximum Modulation Depth		78%			Utilizable percentage of DC bus voltage
Operating Motor Current			3.5 7	A	Free air (T_A 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

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	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 

All GPIO and SPI pins are 5V tolerant.

[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

GPIO Properties 

Additional notes and properties for each GPIO pin

G02, G03, G04: The ENC0 pins have a 2.7kΩ pullup to +5V, and cannot be used in DIGITAL_PULL_DOWN mode. When used as an output, the logic low level will be 500mV.
G05, G06, G07: The HALL pins have a 2.7kΩ pullup to +5V and low pass filter (τ=4.25us), and cannot be used in DIGITAL_PULL_DOWN mode. When used as an output, the logic low level will be 500mV.
G01: The THERMISTOR+ pin has an internal 1kΩ pullup to 3.3V for use in a thermistor sense circuit. It cannot be used in DIGITAL_PULL_DOWN mode.
G00: This pin can only be used as a SPI nCS pin, and should not be configured as a user-controlled input or output.

Notes 

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.

User Facing Pins (Gxx)

Locations for all pins that can be configured using GpioMode.
Inputs/Outputs:
G02-G07

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.