Logo
0.6.8

GUIDES

  • Getting Started
    • Wire up the ODrive
      • Hardware Requirements
      • Connections
      • Safety & Power Up
    • Status LED
    • Connecting to the ODrive
    • Next Steps
  • odrivetool Setup
    • Configure Power Supply
    • Motor Configuration
      • Setting the Limits
        • Current limit
        • Velocity limit
        • Temperature limits
    • Encoder Configuration
      • Viewing Encoder Feedback
    • Position Control
    • Other Control Modes
    • What’s Next?
  • Firmware Update
    • Other Options
    • Troubleshooting
    • Flashing with an STLink
  • Tuning the Controller
    • Other Parameters to Tweak
  • CAN Bus Guide
    • Hardware Setup
    • Setting up the ODrive
    • Setting up the Host
      • Enable CAN Hat
      • Enable CAN interface
      • Verifying Communcation
    • Examples
      • Intro: Read Heartbeat
      • Closed Loop Control
      • Arbitrary Parameter Access
    • Troubleshooting
  • Python Package
    • Example
    • ODrive Python Package
      • odrive.utils
        • BulkCapture
        • OperationAbortedException
        • dump_errors()
        • format_errors()
        • fw_version_str_to_tuple()
        • print_drv_regs()
        • ram_osci_run()
        • rate_test()
        • start_liveplotter()
        • usb_burn_in_test()
  • Arduino Guide
    • Overview
    • Connecting the Arduino to the ODrive
    • Configuring the ODrive
    • Setting Up ODrive for UART
    • Installing the ODriveArduino Library
    • Example Sketch
    • Troubleshooting
      • Arduino hangs at Waiting for ODrive...
      • Arduino hangs at Enabling closed loop control...
      • Motor makes “humming” noise while moving
    • Arduino Library Reference
  • ROS2 CAN Package
    • Setting Up the ODrive
    • Installing the odrive_can Package
    • Inspection
  • Common Applications
    • RC PWM
  • Anticogging
    • Overview
    • Preparation
    • How to enable anticogging
    • Limitations
    • Known issues
  • S1 M8325S Kit Build Guide
    • What’s in the box
    • What you’ll need
    • Hardware Setup
      • Apply Thermal Pad
      • Attach to Heat Spreader
      • Attach Motor to Mounting Plate
      • Attach ODrive to Motor
      • Wiring
    • Software Setup
  • ODrive Firmware Deployment System
    • Overview
      • Features
    • How to install the bootloader
    • Updating firmware over USB
    • Updating firmware over CAN
    • ODrive Updater
    • Specifications
    • Known issues
    • How to uninstall the bootloader
  • BotWheel Explorer
    • Overview
    • Hardware Build
    • ODrive Configuration
    • Raspberry Pi Setup
    • Running the example
    • Running the example on startup
    • Next Steps
    • Troubleshooting

HARDWARE

  • Common Hardware Specifications
    • Hardware Compatibility
      • Motors
      • Encoders
  • ODrive Pro Datasheet
    • Electromechanical Specifications
      • Electrical
      • Physical
      • CAD
      • Environmental
    • Pinout
      • Power Pads
      • Logic Pins
      • Notes
  • ODrive S1 Datasheet
    • Electromechanical Specifications
      • Electrical
      • CAD
      • Environmental
    • Pinout
      • Power Pads
      • Logic Pins
      • Notes

MANUAL

  • ODrive Overview
    • System Status LED
    • Per-Axis Commands
      • State Machine
      • Startup Procedure
      • Control Mode
        • Control Commands
    • System Monitoring Commands
      • Encoder Position and Velocity
      • Motor Current and Torque Estimation
    • General System Commands
      • Saving the Configuration
      • Diagnostics
  • Hardware Configuration
    • Power System
      • Trip Levels
      • Regenerated Power
      • Brake Resistors (S1 Only)
      • Voltage Feedback (S1 Only)
    • Temperature Regulation
      • Thermistors
        • Over Temperature Current Limiting
        • Motor Thermistor Configuration
      • Fans (ODrive Pro Only)
    • Encoders
      • Overview
      • Onboard Encoder
      • Incremental Encoders
        • Index Search
      • RS-485 Encoders
      • Hall Effect Encoders
      • SPI Encoders
      • Sensorless
  • Controller
    • Structure
      • Position Control loop
      • Velocity Control Loop
      • Current Control Loop
    • Control Modes
      • Filtered Position Control
      • Trajectory Control
        • Parameters
        • Usage
      • Circular Position Control
      • Absolute Position Control
        • Using a Well-known Startup Position
      • Velocity Control
      • Ramped Velocity Control
      • Torque Control
    • Spinout Detection
  • Application Interfaces
    • USB
    • UART Interface
      • Connection
      • Configuration
    • ASCII Protocol
      • Sending Commands
      • Command Format
      • Command Reference
        • Motor Trajectory
        • Motor Position
        • Motor Position with feed-forward
        • Motor Velocity
        • Motor Torque
        • Request Feedback
        • Update Motor Watchdog
        • Set Absolute Position
      • Parameter Reading/Writing
      • System Commands
    • ODrive Communication Protocol
      • Packet Format
        • Request
        • Response
      • Stream Format
      • CRC Algorithms
        • CRC8
        • CRC16
    • CAN Protocol
      • Overview
      • Cyclic Messages
      • Watchdog
      • DBC Files
      • Interoperability with CANopen
      • Messages
        • Get_Version
        • Heartbeat
        • Estop
        • Get_Error
        • RxSdo
        • TxSdo
        • Set_Axis_Node_ID
        • Set_Axis_State
        • Get_Encoder_Estimates
        • Set_Controller_Mode
        • Set_Input_Pos
        • Set_Input_Vel
        • Set_Input_Torque
        • Set_Limits
        • Set_Traj_Vel_Limit
        • Set_Traj_Accel_Limits
        • Set_Traj_Inertia
        • Get_Iq
        • Get_Temperature
        • Reboot
        • Get_Bus_Voltage_Current
        • Clear_Errors
        • Set_Absolute_Position
        • Set_Pos_Gain
        • Set_Vel_Gains
        • Get_Torques
        • Enter_DFU_Mode
    • Analog Input
    • PWM Input
    • Step/Direction
      • Pinout
      • How to Configure
  • ODrive API Reference
    • ODrive
      • ODrive.test_function()
      • ODrive.get_adc_voltage()
      • ODrive.save_configuration()
      • ODrive.erase_configuration()
      • ODrive.reboot()
      • ODrive.enter_dfu_mode()
      • ODrive.enter_dfu_mode2()
      • ODrive.disable_bootloader()
      • ODrive.get_interrupt_status()
      • ODrive.get_dma_status()
      • ODrive.get_gpio_states()
      • ODrive.set_gpio()
      • ODrive.get_drv_fault()
      • ODrive.clear_errors()
      • ODrive.get_raw_8()
      • ODrive.get_raw()
      • ODrive.get_raw_32()
      • ODrive.get_raw_256()
      • ODrive.vbus_voltage
      • ODrive.ibus
      • ODrive.ibus_report_filter_k
      • ODrive.serial_number
      • ODrive.hw_version_major
      • ODrive.hw_version_minor
      • ODrive.hw_version_variant
      • ODrive.hw_version_revision
      • ODrive.fw_version_major
      • ODrive.fw_version_minor
      • ODrive.fw_version_revision
      • ODrive.commit_hash
      • ODrive.fw_version_unreleased
      • ODrive.bootloader_version
      • ODrive.n_evt_sampling
      • ODrive.n_evt_control_loop
      • ODrive.task_timers_armed
      • ODrive.task_times
      • ODrive.system_stats
      • ODrive.user_config_loaded
      • ODrive.misconfigured
      • ODrive.oscilloscope
      • ODrive.debug
      • ODrive.can
      • ODrive.test_property
      • ODrive.identify
      • ODrive.reboot_required
      • ODrive.issues
      • ODrive.auth
      • ODrive.TaskTimes
        • ODrive.TaskTimes.sampling
        • ODrive.TaskTimes.encoder_update
        • ODrive.TaskTimes.control_loop_misc
        • ODrive.TaskTimes.control_loop_checks
        • ODrive.TaskTimes.current_sense_wait
        • ODrive.TaskTimes.dc_calib_wait
      • ODrive.SystemStats
        • ODrive.SystemStats.uptime
        • ODrive.SystemStats.min_heap_space
        • ODrive.SystemStats.max_stack_usage_axis
        • ODrive.SystemStats.max_stack_usage_usb
        • ODrive.SystemStats.max_stack_usage_uart
        • ODrive.SystemStats.max_stack_usage_can
        • ODrive.SystemStats.max_stack_usage_startup
        • ODrive.SystemStats.stack_size_axis
        • ODrive.SystemStats.stack_size_usb
        • ODrive.SystemStats.stack_size_uart
        • ODrive.SystemStats.stack_size_startup
        • ODrive.SystemStats.stack_size_can
        • ODrive.SystemStats.prio_axis
        • ODrive.SystemStats.prio_usb
        • ODrive.SystemStats.prio_uart
        • ODrive.SystemStats.prio_startup
        • ODrive.SystemStats.prio_can
        • ODrive.SystemStats.usb
        • ODrive.SystemStats.i2c
        • ODrive.SystemStats.Usb
          • ODrive.SystemStats.Usb.rx_cnt
          • ODrive.SystemStats.Usb.tx_cnt
          • ODrive.SystemStats.Usb.tx_overrun_cnt
        • ODrive.SystemStats.I2C
          • ODrive.SystemStats.I2C.addr
          • ODrive.SystemStats.I2C.addr_match_cnt
          • ODrive.SystemStats.I2C.rx_cnt
          • ODrive.SystemStats.I2C.error_cnt
      • ODrive.Issues
        • ODrive.Issues.get()
        • ODrive.Issues.length
      • ODrive.Auth
        • ODrive.Auth.get_pub_key1()
        • ODrive.Auth.get_cert1()
        • ODrive.Auth.auth1()
      • ODrive.HistogramLogger
        • ODrive.HistogramLogger.swap()
        • ODrive.HistogramLogger.get_stats()
        • ODrive.HistogramLogger.get_sum()
        • ODrive.HistogramLogger.get_vals8()
      • ODrive.CircularLog
        • ODrive.CircularLog.get_vals8()
        • ODrive.CircularLog.size
      • ODrive.Config
        • ODrive.Config.enable_uart_a
        • ODrive.Config.uart_a_baudrate
        • ODrive.Config.enable_can_a
        • ODrive.Config.usb_cdc_protocol
        • ODrive.Config.uart0_protocol
        • ODrive.Config.max_regen_current
        • ODrive.Config.dc_bus_undervoltage_trip_level
        • ODrive.Config.dc_bus_overvoltage_trip_level
        • ODrive.Config.dc_max_positive_current
        • ODrive.Config.dc_max_negative_current
      • ODrive.Can
        • ODrive.Can.error
        • ODrive.Can.n_restarts
        • ODrive.Can.n_rx
        • ODrive.Can.config
        • ODrive.Can.Error
          • ODrive.Can.Error.DUPLICATE_CAN_IDS
        • ODrive.Can.Config
          • ODrive.Can.Config.baud_rate
          • ODrive.Can.Config.protocol
        • ODrive.Can.Protocol
          • ODrive.Can.Protocol.SIMPLE
      • ODrive.Endpoint
        • ODrive.Endpoint.endpoint
        • ODrive.Endpoint.min
        • ODrive.Endpoint.max
      • ODrive.Axis
        • ODrive.Axis.watchdog_feed()
        • ODrive.Axis.set_abs_pos()
        • ODrive.Axis.active_errors
        • ODrive.Axis.disarm_reason
        • ODrive.Axis.step_dir_active
        • ODrive.Axis.last_drv_fault
        • ODrive.Axis.steps
        • ODrive.Axis.current_state
        • ODrive.Axis.requested_state
        • ODrive.Axis.is_homed
        • ODrive.Axis.config
        • ODrive.Axis.motor
        • ODrive.Axis.controller
        • ODrive.Axis.trap_traj
        • ODrive.Axis.min_endstop
        • ODrive.Axis.max_endstop
        • ODrive.Axis.mechanical_brake
        • ODrive.Axis.pos_vel_mapper
        • ODrive.Axis.commutation_mapper
        • ODrive.Axis.interpolator
        • ODrive.Axis.task_times
        • ODrive.Axis.procedure_result
        • ODrive.Axis.disarm_time
        • ODrive.Axis.is_armed
        • ODrive.Axis.observed_encoder_scale_factor
        • ODrive.Axis.Config
          • ODrive.Axis.Config.startup_max_wait_for_ready
          • ODrive.Axis.Config.startup_motor_calibration
          • ODrive.Axis.Config.startup_encoder_index_search
          • ODrive.Axis.Config.startup_encoder_offset_calibration
          • ODrive.Axis.Config.startup_closed_loop_control
          • ODrive.Axis.Config.startup_homing
          • ODrive.Axis.Config.enable_step_dir
          • ODrive.Axis.Config.step_dir_always_on
          • ODrive.Axis.Config.calib_range
          • ODrive.Axis.Config.calib_scan_distance
          • ODrive.Axis.Config.calib_scan_vel
          • ODrive.Axis.Config.index_search_at_target_vel_only
          • ODrive.Axis.Config.watchdog_timeout
          • ODrive.Axis.Config.enable_watchdog
          • ODrive.Axis.Config.step_gpio_pin
          • ODrive.Axis.Config.dir_gpio_pin
          • ODrive.Axis.Config.error_gpio_pin
          • ODrive.Axis.Config.enable_error_gpio
          • ODrive.Axis.Config.calibration_lockin
          • ODrive.Axis.Config.sensorless_ramp
          • ODrive.Axis.Config.general_lockin
          • ODrive.Axis.Config.can
          • ODrive.Axis.Config.load_encoder
          • ODrive.Axis.Config.commutation_encoder
          • ODrive.Axis.Config.encoder_bandwidth
          • ODrive.Axis.Config.I_bus_hard_min
          • ODrive.Axis.Config.I_bus_hard_max
          • ODrive.Axis.Config.torque_soft_min
          • ODrive.Axis.Config.torque_soft_max
          • ODrive.Axis.Config.motor
          • ODrive.Axis.Config.anticogging
          • ODrive.Axis.Config.CalibrationLockin
            • ODrive.Axis.Config.CalibrationLockin.current
            • ODrive.Axis.Config.CalibrationLockin.ramp_time
            • ODrive.Axis.Config.CalibrationLockin.ramp_distance
            • ODrive.Axis.Config.CalibrationLockin.accel
            • ODrive.Axis.Config.CalibrationLockin.vel
          • ODrive.Axis.Config.Motor
            • ODrive.Axis.Config.Motor.motor_type
            • ODrive.Axis.Config.Motor.pole_pairs
            • ODrive.Axis.Config.Motor.phase_resistance
            • ODrive.Axis.Config.Motor.phase_inductance
            • ODrive.Axis.Config.Motor.phase_resistance_valid
            • ODrive.Axis.Config.Motor.phase_inductance_valid
            • ODrive.Axis.Config.Motor.torque_constant
            • ODrive.Axis.Config.Motor.direction
            • ODrive.Axis.Config.Motor.current_control_bandwidth
            • ODrive.Axis.Config.Motor.wL_FF_enable
            • ODrive.Axis.Config.Motor.bEMF_FF_enable
            • ODrive.Axis.Config.Motor.ff_pm_flux_linkage
            • ODrive.Axis.Config.Motor.ff_pm_flux_linkage_valid
            • ODrive.Axis.Config.Motor.motor_model_l_d
            • ODrive.Axis.Config.Motor.motor_model_l_q
            • ODrive.Axis.Config.Motor.motor_model_l_dq_valid
            • ODrive.Axis.Config.Motor.calibration_current
            • ODrive.Axis.Config.Motor.resistance_calib_max_voltage
            • ODrive.Axis.Config.Motor.current_soft_max
            • ODrive.Axis.Config.Motor.current_hard_max
            • ODrive.Axis.Config.Motor.current_slew_rate_limit
            • ODrive.Axis.Config.Motor.fw_enable
            • ODrive.Axis.Config.Motor.fw_mod_setpoint
            • ODrive.Axis.Config.Motor.fw_fb_bandwidth
            • ODrive.Axis.Config.Motor.acim_gain_min_flux
            • ODrive.Axis.Config.Motor.acim_autoflux_enable
            • ODrive.Axis.Config.Motor.acim_autoflux_min_Id
            • ODrive.Axis.Config.Motor.acim_autoflux_attack_gain
            • ODrive.Axis.Config.Motor.acim_autoflux_decay_gain
            • ODrive.Axis.Config.Motor.acim_nominal_slip_vel
            • ODrive.Axis.Config.Motor.sensorless_observer_gain
            • ODrive.Axis.Config.Motor.sensorless_pll_bandwidth
            • ODrive.Axis.Config.Motor.sensorless_pm_flux_linkage
            • ODrive.Axis.Config.Motor.sensorless_pm_flux_linkage_valid
        • ODrive.Axis.TaskTimes
          • ODrive.Axis.TaskTimes.thermistor_update
          • ODrive.Axis.TaskTimes.sensorless_estimator_update
          • ODrive.Axis.TaskTimes.endstop_update
          • ODrive.Axis.TaskTimes.can_heartbeat
          • ODrive.Axis.TaskTimes.controller_update
          • ODrive.Axis.TaskTimes.open_loop_vector_generator_update
          • ODrive.Axis.TaskTimes.acim_estimator_update
          • ODrive.Axis.TaskTimes.motor_update
          • ODrive.Axis.TaskTimes.current_controller_update
          • ODrive.Axis.TaskTimes.current_sense
          • ODrive.Axis.TaskTimes.pwm_update
        • ODrive.Axis.LockinConfig
          • ODrive.Axis.LockinConfig.initial_pos
          • ODrive.Axis.LockinConfig.current
          • ODrive.Axis.LockinConfig.ramp_time
          • ODrive.Axis.LockinConfig.ramp_distance
          • ODrive.Axis.LockinConfig.accel
          • ODrive.Axis.LockinConfig.vel
          • ODrive.Axis.LockinConfig.finish_distance
          • ODrive.Axis.LockinConfig.finish_on_vel
          • ODrive.Axis.LockinConfig.finish_on_distance
        • ODrive.Axis.CanConfig
          • ODrive.Axis.CanConfig.node_id
          • ODrive.Axis.CanConfig.is_extended
          • ODrive.Axis.CanConfig.version_msg_rate_ms
          • ODrive.Axis.CanConfig.heartbeat_msg_rate_ms
          • ODrive.Axis.CanConfig.encoder_msg_rate_ms
          • ODrive.Axis.CanConfig.iq_msg_rate_ms
          • ODrive.Axis.CanConfig.error_msg_rate_ms
          • ODrive.Axis.CanConfig.temperature_msg_rate_ms
          • ODrive.Axis.CanConfig.bus_voltage_msg_rate_ms
          • ODrive.Axis.CanConfig.torques_msg_rate_ms
        • ODrive.Axis.AxisState
          • ODrive.Axis.AxisState.UNDEFINED
          • ODrive.Axis.AxisState.IDLE
          • ODrive.Axis.AxisState.STARTUP_SEQUENCE
          • ODrive.Axis.AxisState.FULL_CALIBRATION_SEQUENCE
          • ODrive.Axis.AxisState.MOTOR_CALIBRATION
          • ODrive.Axis.AxisState.ENCODER_INDEX_SEARCH
          • ODrive.Axis.AxisState.ENCODER_OFFSET_CALIBRATION
          • ODrive.Axis.AxisState.CLOSED_LOOP_CONTROL
          • ODrive.Axis.AxisState.LOCKIN_SPIN
          • ODrive.Axis.AxisState.ENCODER_DIR_FIND
          • ODrive.Axis.AxisState.HOMING
          • ODrive.Axis.AxisState.ENCODER_HALL_POLARITY_CALIBRATION
          • ODrive.Axis.AxisState.ENCODER_HALL_PHASE_CALIBRATION
          • ODrive.Axis.AxisState.ANTICOGGING_CALIBRATION
      • ODrive.AnticoggingConfig
        • ODrive.AnticoggingConfig.set_map()
        • ODrive.AnticoggingConfig.get_map()
        • ODrive.AnticoggingConfig.enabled
        • ODrive.AnticoggingConfig.max_torque
        • ODrive.AnticoggingConfig.calib_start_vel
        • ODrive.AnticoggingConfig.calib_end_vel
        • ODrive.AnticoggingConfig.calib_coarse_tuning_duration
        • ODrive.AnticoggingConfig.calib_fine_tuning_duration
        • ODrive.AnticoggingConfig.calib_fine_dist_scale
        • ODrive.AnticoggingConfig.calib_coarse_integrator_gain
        • ODrive.AnticoggingConfig.calib_bidirectional
      • ODrive.BrakeResistor
        • ODrive.BrakeResistor.current_meas
        • ODrive.BrakeResistor.current_meas_status
        • ODrive.BrakeResistor.duty
        • ODrive.BrakeResistor.additional_duty
        • ODrive.BrakeResistor.current
        • ODrive.BrakeResistor.chopper_temp
        • ODrive.BrakeResistor.is_armed
        • ODrive.BrakeResistor.is_saturated
      • ODrive.BrakeResistorConfig
        • ODrive.BrakeResistorConfig.enable
        • ODrive.BrakeResistorConfig.resistance
        • ODrive.BrakeResistorConfig.enable_dc_bus_voltage_feedback
        • ODrive.BrakeResistorConfig.dc_bus_voltage_feedback_ramp_start
        • ODrive.BrakeResistorConfig.dc_bus_voltage_feedback_ramp_end
      • ODrive.Motor
        • ODrive.Motor.alpha_beta_controller
        • ODrive.Motor.foc
        • ODrive.Motor.fet_thermistor
        • ODrive.Motor.motor_thermistor
        • ODrive.Motor.acim_estimator
        • ODrive.Motor.sensorless_estimator
        • ODrive.Motor.torque_estimate
        • ODrive.Motor.mechanical_power
        • ODrive.Motor.electrical_power
        • ODrive.Motor.effective_current_lim
        • ODrive.Motor.resistance_calibration_I_beta
        • ODrive.Motor.input_id
        • ODrive.Motor.input_iq
      • ODrive.Mapper
        • ODrive.Mapper.set_abs_pos()
        • ODrive.Mapper.status
        • ODrive.Mapper.pos_rel
        • ODrive.Mapper.pos_abs
        • ODrive.Mapper.vel
        • ODrive.Mapper.config
        • ODrive.Mapper.Config
          • ODrive.Mapper.Config.circular
          • ODrive.Mapper.Config.circular_output_range
          • ODrive.Mapper.Config.scale
          • ODrive.Mapper.Config.offset_valid
          • ODrive.Mapper.Config.offset
          • ODrive.Mapper.Config.approx_init_pos_valid
          • ODrive.Mapper.Config.approx_init_pos
          • ODrive.Mapper.Config.index_offset_valid
          • ODrive.Mapper.Config.index_offset
          • ODrive.Mapper.Config.use_index_gpio
          • ODrive.Mapper.Config.index_search_always_on
          • ODrive.Mapper.Config.index_gpio
          • ODrive.Mapper.Config.use_endstop
      • ODrive.OnboardEncoder
        • ODrive.OnboardEncoder.get_field_strength()
        • ODrive.OnboardEncoder.status
        • ODrive.OnboardEncoder.raw
      • ODrive.Rs485EncoderGroup
        • ODrive.Rs485EncoderGroup.status
        • ODrive.Rs485EncoderGroup.raw
        • ODrive.Rs485EncoderGroup.config
        • ODrive.Rs485EncoderGroup.Config
          • ODrive.Rs485EncoderGroup.Config.mode
      • ODrive.IncrementalEncoder
        • ODrive.IncrementalEncoder.status
        • ODrive.IncrementalEncoder.pos_min
        • ODrive.IncrementalEncoder.pos_max
        • ODrive.IncrementalEncoder.pos_residual
        • ODrive.IncrementalEncoder.raw
        • ODrive.IncrementalEncoder.config
        • ODrive.IncrementalEncoder.Config
          • ODrive.IncrementalEncoder.Config.enabled
          • ODrive.IncrementalEncoder.Config.cpr
      • ODrive.HallEncoder
        • ODrive.HallEncoder.status
        • ODrive.HallEncoder.hall_cnt
        • ODrive.HallEncoder.raw_hall_state
        • ODrive.HallEncoder.abs_pos_min
        • ODrive.HallEncoder.abs_pos_max
        • ODrive.HallEncoder.config
        • ODrive.HallEncoder.Config
          • ODrive.HallEncoder.Config.enabled
          • ODrive.HallEncoder.Config.hall_polarity
          • ODrive.HallEncoder.Config.hall_polarity_calibrated
          • ODrive.HallEncoder.Config.ignore_illegal_hall_state
      • ODrive.SpiEncoder
        • ODrive.SpiEncoder.get_field_strength()
        • ODrive.SpiEncoder.status
        • ODrive.SpiEncoder.raw
        • ODrive.SpiEncoder.warning
        • ODrive.SpiEncoder.n_errors
        • ODrive.SpiEncoder.inject_errors
        • ODrive.SpiEncoder.config
        • ODrive.SpiEncoder.Config
          • ODrive.SpiEncoder.Config.ncs_gpio
          • ODrive.SpiEncoder.Config.mode
          • ODrive.SpiEncoder.Config.delay
          • ODrive.SpiEncoder.Config.max_error_rate
          • ODrive.SpiEncoder.Config.baudrate
          • ODrive.SpiEncoder.Config.biss_c_bits
      • ODrive.EncoderEstimator
        • ODrive.EncoderEstimator.status
        • ODrive.EncoderEstimator.pos_estimate
        • ODrive.EncoderEstimator.vel_estimate
      • ODrive.Interpolator
        • ODrive.Interpolator.status
        • ODrive.Interpolator.interpolation
        • ODrive.Interpolator.config
        • ODrive.Interpolator.Config
          • ODrive.Interpolator.Config.dynamic
      • ODrive.OnboardThermistorCurrentLimiter
        • ODrive.OnboardThermistorCurrentLimiter.temperature
      • ODrive.OffboardThermistorCurrentLimiter
        • ODrive.OffboardThermistorCurrentLimiter.temperature
        • ODrive.OffboardThermistorCurrentLimiter.config
        • ODrive.OffboardThermistorCurrentLimiter.Config
          • ODrive.OffboardThermistorCurrentLimiter.Config.gpio_pin
          • ODrive.OffboardThermistorCurrentLimiter.Config.r_ref
          • ODrive.OffboardThermistorCurrentLimiter.Config.t_ref
          • ODrive.OffboardThermistorCurrentLimiter.Config.beta
          • ODrive.OffboardThermistorCurrentLimiter.Config.temp_limit_lower
          • ODrive.OffboardThermistorCurrentLimiter.Config.temp_limit_upper
          • ODrive.OffboardThermistorCurrentLimiter.Config.enabled
      • ODrive.AlphaBetaFrameController
        • ODrive.AlphaBetaFrameController.current_meas_phA
        • ODrive.AlphaBetaFrameController.current_meas_phB
        • ODrive.AlphaBetaFrameController.current_meas_phC
        • ODrive.AlphaBetaFrameController.current_meas_status_phA
        • ODrive.AlphaBetaFrameController.current_meas_status_phB
        • ODrive.AlphaBetaFrameController.current_meas_status_phC
        • ODrive.AlphaBetaFrameController.I_bus
        • ODrive.AlphaBetaFrameController.Ialpha_measured
        • ODrive.AlphaBetaFrameController.Ibeta_measured
        • ODrive.AlphaBetaFrameController.max_measurable_current
        • ODrive.AlphaBetaFrameController.power
        • ODrive.AlphaBetaFrameController.n_evt_current_measurement
        • ODrive.AlphaBetaFrameController.n_evt_pwm_update
      • ODrive.FieldOrientedController
        • ODrive.FieldOrientedController.p_gain
        • ODrive.FieldOrientedController.i_gain
        • ODrive.FieldOrientedController.I_measured_report_filter_k
        • ODrive.FieldOrientedController.Id_setpoint
        • ODrive.FieldOrientedController.Iq_setpoint
        • ODrive.FieldOrientedController.Vd_setpoint
        • ODrive.FieldOrientedController.Vq_setpoint
        • ODrive.FieldOrientedController.phase
        • ODrive.FieldOrientedController.phase_vel
        • ODrive.FieldOrientedController.Id_measured
        • ODrive.FieldOrientedController.Iq_measured
        • ODrive.FieldOrientedController.v_current_control_integral_d
        • ODrive.FieldOrientedController.v_current_control_integral_q
        • ODrive.FieldOrientedController.mod_d
        • ODrive.FieldOrientedController.mod_q
        • ODrive.FieldOrientedController.final_v_alpha
        • ODrive.FieldOrientedController.final_v_beta
      • ODrive.Oscilloscope
        • ODrive.Oscilloscope.config()
        • ODrive.Oscilloscope.trigger()
        • ODrive.Oscilloscope.trigger_high_res()
        • ODrive.Oscilloscope.get_raw()
        • ODrive.Oscilloscope.size
        • ODrive.Oscilloscope.pos
        • ODrive.Oscilloscope.rollover
        • ODrive.Oscilloscope.recording
      • ODrive.Debug
        • ODrive.Debug.block()
        • ODrive.Debug.hal_ticks
      • ODrive.AcimEstimator
        • ODrive.AcimEstimator.rotor_flux
        • ODrive.AcimEstimator.slip_vel
        • ODrive.AcimEstimator.phase_offset
        • ODrive.AcimEstimator.stator_phase_vel
        • ODrive.AcimEstimator.stator_phase
      • ODrive.Controller
        • ODrive.Controller.move_incremental()
        • ODrive.Controller.input_pos
        • ODrive.Controller.input_vel
        • ODrive.Controller.input_torque
        • ODrive.Controller.pos_setpoint
        • ODrive.Controller.vel_setpoint
        • ODrive.Controller.torque_setpoint
        • ODrive.Controller.effective_torque_setpoint
        • ODrive.Controller.trajectory_done
        • ODrive.Controller.vel_integrator_torque
        • ODrive.Controller.autotuning_phase
        • ODrive.Controller.config
        • ODrive.Controller.autotuning
        • ODrive.Controller.spinout_mechanical_power
        • ODrive.Controller.spinout_electrical_power
        • ODrive.Controller.Config
          • ODrive.Controller.Config.enable_vel_limit
          • ODrive.Controller.Config.enable_torque_mode_vel_limit
          • ODrive.Controller.Config.enable_gain_scheduling
          • ODrive.Controller.Config.gain_scheduling_width
          • ODrive.Controller.Config.enable_overspeed_error
          • ODrive.Controller.Config.control_mode
          • ODrive.Controller.Config.input_mode
          • ODrive.Controller.Config.pos_gain
          • ODrive.Controller.Config.vel_gain
          • ODrive.Controller.Config.vel_integrator_gain
          • ODrive.Controller.Config.vel_integrator_limit
          • ODrive.Controller.Config.vel_limit
          • ODrive.Controller.Config.vel_limit_tolerance
          • ODrive.Controller.Config.vel_ramp_rate
          • ODrive.Controller.Config.torque_ramp_rate
          • ODrive.Controller.Config.circular_setpoints
          • ODrive.Controller.Config.circular_setpoint_range
          • ODrive.Controller.Config.absolute_setpoints
          • ODrive.Controller.Config.use_commutation_vel
          • ODrive.Controller.Config.commutation_vel_scale
          • ODrive.Controller.Config.steps_per_circular_range
          • ODrive.Controller.Config.homing_speed
          • ODrive.Controller.Config.inertia
          • ODrive.Controller.Config.input_filter_bandwidth
          • ODrive.Controller.Config.spinout_mechanical_power_bandwidth
          • ODrive.Controller.Config.spinout_electrical_power_bandwidth
          • ODrive.Controller.Config.spinout_mechanical_power_threshold
          • ODrive.Controller.Config.spinout_electrical_power_threshold
        • ODrive.Controller.Autotuning
          • ODrive.Controller.Autotuning.frequency
          • ODrive.Controller.Autotuning.pos_amplitude
          • ODrive.Controller.Autotuning.vel_amplitude
          • ODrive.Controller.Autotuning.torque_amplitude
          • ODrive.Controller.Autotuning.vel_burst_factor
        • ODrive.Controller.ControlMode
          • ODrive.Controller.ControlMode.VOLTAGE_CONTROL
          • ODrive.Controller.ControlMode.TORQUE_CONTROL
          • ODrive.Controller.ControlMode.VELOCITY_CONTROL
          • ODrive.Controller.ControlMode.POSITION_CONTROL
        • ODrive.Controller.InputMode
          • ODrive.Controller.InputMode.INACTIVE
          • ODrive.Controller.InputMode.PASSTHROUGH
          • ODrive.Controller.InputMode.VEL_RAMP
          • ODrive.Controller.InputMode.POS_FILTER
          • ODrive.Controller.InputMode.MIX_CHANNELS
          • ODrive.Controller.InputMode.TRAP_TRAJ
          • ODrive.Controller.InputMode.TORQUE_RAMP
          • ODrive.Controller.InputMode.MIRROR
          • ODrive.Controller.InputMode.TUNING
      • ODrive.SensorlessEstimator
        • ODrive.SensorlessEstimator.phase
        • ODrive.SensorlessEstimator.pll_pos
        • ODrive.SensorlessEstimator.phase_vel
      • ODrive.TrapezoidalTrajectory
        • ODrive.TrapezoidalTrajectory.config
        • ODrive.TrapezoidalTrajectory.Config
          • ODrive.TrapezoidalTrajectory.Config.vel_limit
          • ODrive.TrapezoidalTrajectory.Config.accel_limit
          • ODrive.TrapezoidalTrajectory.Config.decel_limit
      • ODrive.Endstop
        • ODrive.Endstop.endstop_state
        • ODrive.Endstop.config
        • ODrive.Endstop.Config
          • ODrive.Endstop.Config.gpio_num
          • ODrive.Endstop.Config.enabled
          • ODrive.Endstop.Config.offset
          • ODrive.Endstop.Config.is_active_high
          • ODrive.Endstop.Config.debounce_ms
      • ODrive.MechanicalBrake
        • ODrive.MechanicalBrake.engage()
        • ODrive.MechanicalBrake.release()
        • ODrive.MechanicalBrake.config
        • ODrive.MechanicalBrake.Config
          • ODrive.MechanicalBrake.Config.gpio_num
          • ODrive.MechanicalBrake.Config.is_active_low
      • ODrive.TaskTimer
        • ODrive.TaskTimer.start_time
        • ODrive.TaskTimer.end_time
        • ODrive.TaskTimer.length
        • ODrive.TaskTimer.max_length
      • ODrive.InverterConfig
        • ODrive.InverterConfig.current_soft_max
        • ODrive.InverterConfig.current_hard_max
        • ODrive.InverterConfig.temp_limit_lower
        • ODrive.InverterConfig.temp_limit_upper
        • ODrive.InverterConfig.shunt_conductance
        • ODrive.InverterConfig.drv_config
      • ODrive.GpioMode
        • ODrive.GpioMode.DIGITAL
        • ODrive.GpioMode.DIGITAL_PULL_UP
        • ODrive.GpioMode.DIGITAL_PULL_DOWN
        • ODrive.GpioMode.ANALOG_IN
        • ODrive.GpioMode.UART_A
        • ODrive.GpioMode.UART_B
        • ODrive.GpioMode.UART_C
        • ODrive.GpioMode.CAN_A
        • ODrive.GpioMode.I2C_A
        • ODrive.GpioMode.SPI_A
        • ODrive.GpioMode.PWM
        • ODrive.GpioMode.ENC0
        • ODrive.GpioMode.ENC1
        • ODrive.GpioMode.ENC2
        • ODrive.GpioMode.MECH_BRAKE
        • ODrive.GpioMode.STATUS
        • ODrive.GpioMode.BRAKE_RES
        • ODrive.GpioMode.AUTO
      • ODrive.StreamProtocolType
        • ODrive.StreamProtocolType.FIBRE
        • ODrive.StreamProtocolType.ASCII
        • ODrive.StreamProtocolType.STDOUT
        • ODrive.StreamProtocolType.ASCII_AND_STDOUT
        • ODrive.StreamProtocolType.OTHER
      • ODrive.ComponentStatus
        • ODrive.ComponentStatus.NOMINAL
        • ODrive.ComponentStatus.NO_RESPONSE
        • ODrive.ComponentStatus.INVALID_RESPONSE_LENGTH
        • ODrive.ComponentStatus.PARITY_MISMATCH
        • ODrive.ComponentStatus.ILLEGAL_HALL_STATE
        • ODrive.ComponentStatus.POLARITY_NOT_CALIBRATED
        • ODrive.ComponentStatus.PHASES_NOT_CALIBRATED
        • ODrive.ComponentStatus.NUMERICAL_ERROR
        • ODrive.ComponentStatus.MISSING_INPUT
        • ODrive.ComponentStatus.RELATIVE_MODE
        • ODrive.ComponentStatus.UNCONFIGURED
        • ODrive.ComponentStatus.OVERSPEED
        • ODrive.ComponentStatus.INDEX_NOT_FOUND
        • ODrive.ComponentStatus.BAD_CONFIG
        • ODrive.ComponentStatus.NOT_ENABLED
        • ODrive.ComponentStatus.SPINOUT_DETECTED
      • ODrive.Error
        • ODrive.Error.INITIALIZING
        • ODrive.Error.SYSTEM_LEVEL
        • ODrive.Error.TIMING_ERROR
        • ODrive.Error.MISSING_ESTIMATE
        • ODrive.Error.BAD_CONFIG
        • ODrive.Error.DRV_FAULT
        • ODrive.Error.MISSING_INPUT
        • ODrive.Error.DC_BUS_OVER_VOLTAGE
        • ODrive.Error.DC_BUS_UNDER_VOLTAGE
        • ODrive.Error.DC_BUS_OVER_CURRENT
        • ODrive.Error.DC_BUS_OVER_REGEN_CURRENT
        • ODrive.Error.CURRENT_LIMIT_VIOLATION
        • ODrive.Error.MOTOR_OVER_TEMP
        • ODrive.Error.INVERTER_OVER_TEMP
        • ODrive.Error.VELOCITY_LIMIT_VIOLATION
        • ODrive.Error.POSITION_LIMIT_VIOLATION
        • ODrive.Error.WATCHDOG_TIMER_EXPIRED
        • ODrive.Error.ESTOP_REQUESTED
        • ODrive.Error.SPINOUT_DETECTED
        • ODrive.Error.BRAKE_RESISTOR_DISARMED
        • ODrive.Error.THERMISTOR_DISCONNECTED
        • ODrive.Error.CALIBRATION_ERROR
      • ODrive.ProcedureResult
        • ODrive.ProcedureResult.SUCCESS
        • ODrive.ProcedureResult.BUSY
        • ODrive.ProcedureResult.CANCELLED
        • ODrive.ProcedureResult.DISARMED
        • ODrive.ProcedureResult.NO_RESPONSE
        • ODrive.ProcedureResult.POLE_PAIR_CPR_MISMATCH
        • ODrive.ProcedureResult.PHASE_RESISTANCE_OUT_OF_RANGE
        • ODrive.ProcedureResult.PHASE_INDUCTANCE_OUT_OF_RANGE
        • ODrive.ProcedureResult.UNBALANCED_PHASES
        • ODrive.ProcedureResult.INVALID_MOTOR_TYPE
        • ODrive.ProcedureResult.ILLEGAL_HALL_STATE
        • ODrive.ProcedureResult.TIMEOUT
        • ODrive.ProcedureResult.HOMING_WITHOUT_ENDSTOP
        • ODrive.ProcedureResult.INVALID_STATE
        • ODrive.ProcedureResult.NOT_CALIBRATED
        • ODrive.ProcedureResult.NOT_CONVERGING
      • ODrive.EncoderId
        • ODrive.EncoderId.NONE
        • ODrive.EncoderId.INC_ENCODER0
        • ODrive.EncoderId.INC_ENCODER1
        • ODrive.EncoderId.INC_ENCODER2
        • ODrive.EncoderId.SENSORLESS_ESTIMATOR
        • ODrive.EncoderId.SPI_ENCODER0
        • ODrive.EncoderId.SPI_ENCODER1
        • ODrive.EncoderId.SPI_ENCODER2
        • ODrive.EncoderId.HALL_ENCODER0
        • ODrive.EncoderId.HALL_ENCODER1
        • ODrive.EncoderId.RS485_ENCODER0
        • ODrive.EncoderId.RS485_ENCODER1
        • ODrive.EncoderId.RS485_ENCODER2
        • ODrive.EncoderId.ONBOARD_ENCODER0
        • ODrive.EncoderId.ONBOARD_ENCODER1
      • ODrive.SpiEncoderMode
        • ODrive.SpiEncoderMode.DISABLED
        • ODrive.SpiEncoderMode.RLS
        • ODrive.SpiEncoderMode.AMS
        • ODrive.SpiEncoderMode.CUI
        • ODrive.SpiEncoderMode.AEAT
        • ODrive.SpiEncoderMode.MA732
        • ODrive.SpiEncoderMode.TLE
        • ODrive.SpiEncoderMode.BISSC
      • ODrive.Rs485EncoderMode
        • ODrive.Rs485EncoderMode.DISABLED
        • ODrive.Rs485EncoderMode.AMT21_POLLING
        • ODrive.Rs485EncoderMode.AMT21_EVENT_DRIVEN
        • ODrive.Rs485EncoderMode.MBS
        • ODrive.Rs485EncoderMode.ODRIVE_OA1
      • ODrive.MotorType
        • ODrive.MotorType.HIGH_CURRENT
        • ODrive.MotorType.GIMBAL
        • ODrive.MotorType.ACIM

INTERFACES

  • odrivetool
    • Installation
    • Start odrivetool
    • Multiple ODrives
    • Commands and Objects
      • odrv0
      • dump_errors()
      • start_liveplotter()
      • status()
      • apply()
      • calibrate()
    • Liveplotter
      • Example 1
      • Example 2
      • Liveplotter from Interactive odrivetool Instance
    • Configuration Backup
  • Web GUI

TROUBLESHOOTING

  • Error Codes
    • AttributeError
  • USB Connectivity Issues
    • Uninstall Zadig Drivers (Windows Only)
  • Encoder Noise
  • Miscellaneous
  • Disable Browser Notifications

ARTICLES

  • Component Selection
    • Power Supply
      • Voltage
      • Power
      • Other Considerations
    • Motor
      • Kv-number / Torque Constant
      • Current
      • Other considerations
  • Ground Loops
    • The Problem
    • Solutions
      • Reduce Power Wire
      • Isolation
      • Current Limiting

CHANGELOG

  • CHANGELOG
    • [0.6.8] - 2023-09-12
      • Added
      • Fixed
      • Changed
      • API migration notes
    • [0.6.7] - 2023-07-13
      • Added
      • Fixed
      • Changed
    • [0.6.6] - 2023-04-12
      • Added
      • Fixed
      • Changed
      • API migration notes
    • [0.6.5] - 2023-01-25
      • Added
      • Fixed
      • Changed
      • API migration notes
    • [0.6.4-1] - 2022-12-12
      • Fixed
    • [0.6.4] - 2022-10-31
      • Fixed
      • Changed
    • [0.6.3] - 2022-08-19
      • Added
      • Fixed
      • Changed
      • API Migration Guide
    • [0.6.2] - 2022-08-09
      • Added
      • Fixed
      • Changed
      • API Migration Guide
      • Known Issues
    • [0.6.1] - 2022-06-03
      • Fixed
      • Added
      • Changed
      • API Migration Guide
    • [0.6.0] - 2022-02-21
      • Fixed
      • Added
      • Changed
      • API Migration Notes
    • [0.5.4] and older
ODrive Documentation
  • Application Interfaces

Application Interfaces

  • USB
  • UART Interface
  • ASCII Protocol
  • ODrive Communication Protocol
  • CAN Protocol
  • Analog Input
  • PWM Input
  • Step/Direction
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