ODrive S1 Datasheet

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The ODrive S1 brings ODrive’s next-generation motion control ecosystem to every robot, with a 2kW continuous power output and a wide variety of encoder interfaces, all at an accessable price point and with a form factor smaller than a credit card.

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

12

16-48

50.5

V

AUX Logic Voltage

10

12

14

V

Optional

Operating Motor Current

20
40
40-80
A
A
A
Free air (TA 25°C)
Heat spreader plate (TA 25°C)
Peak, see below

ESD Protection

±30
±13
±8
±8
±6
kV




Power Lines, IEC 61000-4-2
CAN Lines, IEC 61000-4-2
Isolated Lines, IEC 61000-4-2
USB Lines, IEC 61000-4-2
All Other Lines, IEC 61000-4-2
Peak Current vs DC voltage

ODrive S1 Peak Current vs DC voltage. The firmware limits motor current according to this curve depending on dc_bus_overvoltage_trip_level.

Connectors

Connector mating receptacles and crimps.

Connector

Description

Connector P/N

Mating Receptacle

Mating Crimp

Precrimped Wire P/N

Power

Optional Screw Terminal

TB005-762-07BE

N/A

N/A

N/A

J11

Unified I/O Header

S30B-PUDSS-1

PUDP-30V-S

SPUD-002T-P0.5

ASPUDSPUD22K305

J16, J17

CAN Header

SM04B-GHS-TB

GHR-04V-S

SSHL-002T-P0.2

AGHGH28K305

J1

Debug Header

BM05B-GHS-TB

GHR-05V-S

SSHL-002T-P0.2

AGHGH28K305

Environmental

Specification

Value

Notes

Humidity

Non-Condensing

Ingress Protection

IP20

with case

CAD

The ODrive S1 CAD model is available on the ODrive S1 OnShape page.

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Pinout

Power Pads

Important

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

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Pin

Description

R-

Brake resistor output

R+

Brake resistor output

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.

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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, G02, G11: 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.

  • G03, G09, G10: 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.

  • G04: 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.

  • G12: This pin can only be used as a SPI nCS pin, and should not be configured as a user-controlled input or output.

  • G05, G07, G08: 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.

  • G06: 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.

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 150mA

  • 3.3V output: max draw 150mA

  • [1] 5V and 3.3V can be switched on and off internally. (feature coming soon!)

  • The RS485 and SPI feedback interfaces are mutually exclusive on S1 – a RS485 and external SPI encoder cannot be used at the same time

  • THERMISTOR + has an integrated 1k ohm voltage divider.

  • [2] 12V in is optional and is used to power the ODrive logic, enabling communication before the main power supply is connected. Allowed voltage range: 10V-14V. Referenced to DC-. This voltage range is a hard limit, and inrush and overvoltage protection must be guaranteed.

  • [3] GNC NC offers a common connection for the CAN bus ground, it is not connected internally

  • [4] Differential interface used for RS-485 encoders.

User Facing Pins (Gxx)

  • Locations for all pins that can be configured using GpioMode.

  • Inputs:

    G0-G03, G06, G09-G12

  • Outputs:

    G0-G03, G05, G07-G11

Note

Inputs and outputs are not mutually exclusive.

ISOLATED IO (G05-G08)

  • GND ISO and V+ ISO must be connected to your other board.

  • V+ ISO 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.

  • UART: (TX)-Transmit data from ODrive, (RX)-Recieve data to ODrive.

  • The isolated inputs don’t have a built-in pull-up/pull-down resistor (neither user configurable nor fixed). Setting the GPIO mode to DIGITAL_PULL_UP or DIGITAL_PULL_DOWN on these pins has the same effect as DIGITAL.