ODrive Pro Datasheet

The ODrive Pro is the high-performance flagship of ODrive Robotics’s motion control lineup, bringing 5kW peak power and robust isolated interfaces to power any demanding and rigorous robotics application.

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	15		58	V
Maximum Modulation Depth		99%			Utilizable percentage of DC bus voltage
AUX Logic Voltage	10	12	14	V	Optional
Operating Motor Current			20 80 120	A A A	Free air (T_A 25°C) Active cooling (T_A25°C) Peak (3 second max)
ESD Protection		±30 ±8 ±8 ±8 ±8 ±6		kV	Power Lines, IEC 61000-4-2 CAN Lines, IEC 61000-4-2 Isolated Lines, IEC 61000-4-2 RS485 Lines, IEC 61000-4-2 USB Lines, IEC 61000-4-2 All Other Lines, IEC 61000-4-2
CAN baudrate			12	Mbit/s	Additional firmware limitations apply, see `baud_rate`.

Physical 

Specification

Value

Units

Notes

Mass

140

72

32

g

Full Case

Heat Spreader

Bare Board

Width

Length

Height

51

64

17.5

mm

Mounting

PCB

Heat Spreader

4x M3, 42mm x 45mm pattern (horizontal, vertical)

4x M4, 60mm x 60mm pattern

Connectors 

Connector mating receptacles and crimps.

Connector	Description	Connector P/N	Mating Receptacle	Mating Crimp	Precrimped Wire P/N
Power	Optional Screw Terminal	TB005-762-05BE	N/A	N/A	N/A
J8	Motor/Encoder Feedback	1053141214	1053081214	1053001200	0797582129
J12	Isolated Signals	1053141210	1053081210	1053001200	0797582129
J13, J9	CAN Header	1053141204	1053081204	1053001200	0797582129
J14	Additional Feedback	SM12B-GHS-TB	GHR-12V-S	SSHL-002T-P0.2	AGHGH28K305
J7	Debug Header	SM05B-GHS-TB	GHR-05V-S	SSHL-002T-P0.2	AGHGH28K305

Environmental 

Specification	Value	Notes
Humidity	Non-Condensing
Ingress Protection	IP20	with case

CAD 

The CAD models for the ODrive Pro and all of its accessories are available on our OnShape page.

Pinout 

Power Pads 

Important

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

Pin	Description
A	Motor phase A
DC-	Power ground
B	Motor phase B
DC+	Power input, referenced to DC-
C	Motor phase C

The motor phase connections A/B/C can be connected in any order.

Logic Pins 

Digital mode is a general purpose mode that can be used for these functions: step, dir, enable, encoder index, hall effect encoder, SPI encoder nCS.
All GPIO pins are 5V tolerant, except if you power the isolator with 3.3V, then ISOLATED IO inputs are rated to 3.3V nominal.

GPIO Properties 

Additional notes and properties for each GPIO pin

G0: This pin is driven at RS422 logic levels, and cannot be used as a logic input. This pin cannot be used if an external SPI encoder is used. The + and - pins are complementary outputs.
G01-G07: The HALL and ENC0 pins have a 2.7kΩ pullup to +5V, and HALL pins have a low pass filter (τ=4.25us). These pins are on the output of a digital isolator, and cannot be used in output mode. When used as an input, they cannot be used in DIGITAL_PULL_DOWN mode.
G03: 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.
G08, G09, G11, G12: See ISOLATED IO section for required information using isolated pins. These pins are connected to a digital isolator, and can be used as GPIO inputs only. There is a 1.5MΩ pull-down integrated to the isolator, and pull up/down configuration has no effect.
G10, G13: See ISOLATED IO section for required information using isolated pins. This pins is connected to a digital isolator, and can be used as a GPIO output only.
G14-G16: The ENC1 A/B/Z pins are connected to the ODrive Pro through a 1kΩ series resistor. When using these pins in output mode, drive strength will be reduced.
G17: This pin is driven at RS422 logic levels, and cannot be used as a logic input. The + and - pins are complementary outputs.
G18: This pin is recieved at RS422 logic levels, and cannot be used as a logic output. The + and - pins are complementary inputs. If using a single-ended SPI transciever, leave the - pin floating.

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 600mA

User Facing Pins (Gxx)

Locations for all pins that can be configured using GpioMode.
Inputs:
G0-G02, G04-G09, G11-G12, G14-G16, G18
Outputs:
G0, G03, G10, G13-G17

Note

Inputs and outputs are not mutually exclusive.

CAN IO

[1] CAN_GND must be connected to DC- at a single point (system star point) when using the CAN interface. See system grounding scheme for more details.
[2] CAN_12V is optional and is used to power the ODrive logic, enabling communication before the main power supply is connected. Allowed voltage range: 10V-14V

FEEDBACK IO

[3] GND and 5V+ are filtered (ferrite/capacitor) from DC-.
THERMISTOR + has an integrated 1k ohm voltage divider.
Maximum frequency of A/B inputs of ENC0 and ENC1 is software-configurable: <inc_encoder>.config.filter

Warning

[4] The differential signal pin(s) GO+, G0- are located on J8 AND J14

ISOLATED IO

ISO_GND and ISO_VDD must be connected to your other board.
ISO_VDD is a power Input to the isolated interface, which you should power with 3.3V or 5V.
Input and output levels are 3.3V if you supply 3.3V, and are 5V if you supply 5V. Inputs are not 5V tolerant if you supply 3.3V.

MISC IO

3.3V max draw 200mA
see Differential Interfaces below.

Warning

[5] Pins G14, G15, and G16 are only rated for 3.3v, they are NOT 5V tolerant.

Differential Interfaces [6]

Pins G0 [clock], G17 [select] and G18 [data] can be used for RS422 differential signals or as single ended connections if only the + side is used. This allows the ODrive Pro to support a wide variety of encoder interfaces, including SSI (RS422 or single ended), BiSS or RS422 SPI (half duplex only). For specific encoder protocols please refer to the Encoders Page.