ODrive API Reference

class ODrive

Toplevel interface of your ODrive.

The odrv0, odrv1, … objects that appear in odrivetool implement this toplevel interface.

test_function(delta) → int
Parameters:

delta (int) –

Expanded Path:
odrv.test_function
get_adc_voltage(gpio) → float

Reads the ADC voltage of the specified GPIO. The GPIO should be in GpioMode.ANALOG_IN.

Parameters:

gpio (int) –

Expanded Path:
odrv.get_adc_voltage
save_configuration() → bool
Expanded Path:
odrv.save_configuration
erase_configuration()

Resets all config variables to their default values and reboots the controller

Expanded Path:
odrv.erase_configuration
reboot()

Reboots the controller without saving the current configuration

The request is ignored if the axis is not in IDLE.

Expanded Path:
odrv.reboot
enter_dfu_mode()

Enters the Device Firmware Update mode provided by the MCU manufacturer (DFU-over-USB)

Expanded Path:
odrv.enter_dfu_mode
enter_dfu_mode2() → bool

Enters the ODrive Device Firmware Update mode (DFU-over-CAN).

The bootloader, when first started, will set itself as the primary startup target and write-protect its own flash sectors.

Therefore, after calling this function, older firmware (0.6.4 and older) can no longer be installed / booted on the device. This can be reversed by calling disable_bootloader().

Returns false if the ODrive bootloader is not installed.

Expanded Path:
odrv.enter_dfu_mode2
disable_bootloader() → bool

Disables the bootloader.

This unprotects the flash sectors containing the bootloader and causes the device to start the main firmware (rather than the bootloader) on startup.

The bootloader can be re-activated by calling enter_dfu_mode2().

Calling this function is necessary before downgrading to an older firmware version that was not yet compatible with the bootloader.

Expanded Path:
odrv.disable_bootloader
identify_once()

Blinks the LED once.

Similar to identify, but instead of continuously blinking the LED this just blinks it once. Does not affect the state of identify.

Expanded Path:
odrv.identify_once
get_interrupt_status(irqn) → int

Returns information about the specified interrupt number.

Parameters:

irqn (int) – -12…-1: processor interrupts, 0…239: NVIC interrupts

Expanded Path:
odrv.get_interrupt_status
get_dma_status(stream_num) → int

Returns information about the specified DMA stream.

Parameters:

stream_num (int) – 0…7: DMA1 streams, 8…15: DMA2 streams

Expanded Path:
odrv.get_dma_status
get_gpio_states() → int

Returns the logic states of all GPIOs. Bit i represents the state of GPIOi.

Expanded Path:
odrv.get_gpio_states
set_gpio(num, status) → bool

Sets the state of the specified GPIO.

This function should not be called on GPIOs that are in use by a special function (e.g. UART, step/dir, etc). On such GPIOs, this function would take control of the GPIO and override the special function until the next reboot.

Parameters:
Expanded Path:
odrv.set_gpio
get_drv_fault() → int
Expanded Path:
odrv.get_drv_fault
clear_errors()

Clears disarm_reason and procedure_result and re-arms the brake resistor if applicable

Expanded Path:
odrv.clear_errors
get_raw_8(address) → int
experimental
Parameters:

address (int) –

Expanded Path:
odrv.get_raw_8
get_raw(address) → int
Parameters:

address (int) –

Expanded Path:
odrv.get_raw
get_raw_32(address) → int
experimental
Parameters:

address (int) –

Expanded Path:
odrv.get_raw_32
get_raw_256(address) → tuple[int, int, int, int]
experimental
Parameters:

address (int) –

Expanded Path:
odrv.get_raw_256
vbus_voltage: [Volt] - float32
read-only

Voltage on the DC bus as measured by the ODrive.

Expanded Path:
odrv.vbus_voltage
ibus: [Amp] - float32
read-only

Current on the DC bus as calculated by the ODrive.

A positive value means that the ODrive is consuming power from the power supply, a negative value means that the ODrive is sourcing power to the power supply.

This value is equal to the sum of the motor currents and the brake resistor currents. The motor currents are measured, the brake resistor current is calculated based on config.brake_resistor0.resistance.

Expanded Path:
odrv.ibus
ibus_report_filter_k: float32
read-write

Filter gain for the reported ibus. Set to a value below 1.0 to get a smoother line when plotting ibus. Set to 1.0 to disable. This filter is only applied to the reported value and not for internal calculations.

This will create a first-order filter with a -3dB frequency of \(-8000*\ln(1-k)\) rad/s (e.g. \(-8000*\ln(1-k)/2\pi\) Hz), where \(k\) is ibus_report_filter_k.

Expanded Path:
odrv.ibus_report_filter_k
control_loop_hz: [Hz] - uint32
read-only
Expanded Path:
odrv.control_loop_hz
serial_number: uint64
read-only

Integer representation of the serial number of the device

The actual serial number as shown by most tools (GUI, odrivetool, etc) is the 12-digit hexadecimal representation of this number.

For example in Python / odrivetool, it can be obtained with:

f"{odrv0.serial_number:12X}"

Expanded Path:
odrv.serial_number
hw_version_major: uint8
read-only
Expanded Path:
odrv.hw_version_major
hw_version_minor: uint8
read-only
Expanded Path:
odrv.hw_version_minor
hw_version_variant: uint8
read-only
Expanded Path:
odrv.hw_version_variant
hw_version_revision: uint8
read-only
Expanded Path:
odrv.hw_version_revision
fw_version_major: uint8
read-only
Expanded Path:
odrv.fw_version_major
fw_version_minor: uint8
read-only
Expanded Path:
odrv.fw_version_minor
fw_version_revision: uint8
read-only
Expanded Path:
odrv.fw_version_revision
commit_hash: uint32
read-only
Expanded Path:
odrv.commit_hash
fw_version_unreleased: uint8
read-only

0 for official releases, 1 otherwise

Expanded Path:
odrv.fw_version_unreleased
bootloader_version: uint32
read-only

ODrive bootloader version.

The version is represented as (major << 24) | (minor << 16) | (patch << 8). For example 0x01020300 means version 1.2.3.

If the ODrive bootloader is not installed, this returns 0.

Expanded Path:
odrv.bootloader_version
n_evt_sampling: uint32
read-only

Number of input sampling events since startup (modulo 2^32)

Expanded Path:
odrv.n_evt_sampling
n_evt_control_loop: uint32
read-only

Number of control loop iterations since startup (modulo 2^32). Wraps around after 6.2 days (assuming 8kHz control loop frequency).

Expanded Path:
odrv.n_evt_control_loop
task_timers_armed: bool
read-write

Set by a profiling application to trigger sampling of a single control iteration. Cleared by the device as soon as the sampling is complete.

Expanded Path:
odrv.task_timers_armed
task_times: ODrive.TaskTimes
Expanded Path:
odrv.task_times
system_stats: ODrive.SystemStats
Expanded Path:
odrv.system_stats
user_config_loaded: uint32
read-only
Expanded Path:
odrv.user_config_loaded
misconfigured: bool
read-only

If this property is true, something is bad in the configuration. The ODrive can still be used in this state but the user should investigate which setting is problematic. This variable does not cover all misconfigurations.

Possible causes:

  • A GPIO was set to a mode that it doesn’t support

  • A GPIO was set to a mode for which the corresponding feature was not enabled. Example: GpioMode.UART_A was used without enabling config.enable_uart_a.

  • A feature was enabled which is not supported on this hardware. Example: config.enable_uart_c set to true on ODrive v3.x.

  • A GPIO was used as an interrupt input for two internal components or two GPIOs that are mutually exclusive in their interrupt capability were both used as interrupt input. Example: config.step_gpio_pin of both axes were set to the same GPIO.

Expanded Path:
odrv.misconfigured
oscilloscope: ODrive.Oscilloscope
Expanded Path:
odrv.oscilloscope
debug: ODrive.Debug

Diagnostics features. Not intended for use by end users.

Expanded Path:
odrv.debug
can: ODrive.Can
Expanded Path:
odrv.can
test_property: uint32
read-write
Expanded Path:
odrv.test_property
identify: bool
read-write

Flashes the status LED when enabled.

This is intended to help identify a particular ODrive in a setup with multiple devices.

Expanded Path:
odrv.identify
reboot_required: bool
read-write

Can be used by support software to indicate that a reboot is required.

Expanded Path:
odrv.reboot_required
issues: ODrive.Issues
experimental
Expanded Path:
odrv.issues
auth: ODrive.Auth
Expanded Path:
odrv.auth
class ODrive.TaskTimes
sampling: ODrive.TaskTimer
Expanded Path:
odrv.task_times.sampling
encoder_update: ODrive.TaskTimer
Expanded Path:
odrv.task_times.encoder_update
control_loop_misc: ODrive.TaskTimer
Expanded Path:
odrv.task_times.control_loop_misc
control_loop_checks: ODrive.TaskTimer
Expanded Path:
odrv.task_times.control_loop_checks
current_sense_wait: ODrive.TaskTimer
Expanded Path:
odrv.task_times.current_sense_wait
dc_calib_wait: ODrive.TaskTimer
Expanded Path:
odrv.task_times.dc_calib_wait
class ODrive.SystemStats
uptime: uint32
read-only
Expanded Path:
odrv.system_stats.uptime
min_heap_space: uint32
read-only
Expanded Path:
odrv.system_stats.min_heap_space
max_stack_usage_axis: uint32
read-only
Expanded Path:
odrv.system_stats.max_stack_usage_axis
max_stack_usage_comms: uint32
read-only
Expanded Path:
odrv.system_stats.max_stack_usage_comms
max_stack_usage_uart: uint32
read-only
Expanded Path:
odrv.system_stats.max_stack_usage_uart
max_stack_usage_startup: uint32
read-only
Expanded Path:
odrv.system_stats.max_stack_usage_startup
stack_size_axis: uint32
read-only
Expanded Path:
odrv.system_stats.stack_size_axis
stack_size_comms: uint32
read-only
Expanded Path:
odrv.system_stats.stack_size_comms
stack_size_uart: uint32
read-only
Expanded Path:
odrv.system_stats.stack_size_uart
stack_size_startup: uint32
read-only
Expanded Path:
odrv.system_stats.stack_size_startup
prio_axis: int32
read-only
Expanded Path:
odrv.system_stats.prio_axis
prio_comms: int32
read-only
Expanded Path:
odrv.system_stats.prio_comms
prio_uart: int32
read-only
Expanded Path:
odrv.system_stats.prio_uart
prio_startup: int32
read-only
Expanded Path:
odrv.system_stats.prio_startup
usb: ODrive.SystemStats.Usb
Expanded Path:
odrv.system_stats.usb
i2c: ODrive.SystemStats.I2C
Expanded Path:
odrv.system_stats.i2c
class ODrive.Issues
get(index) → tuple[int, int, int, int]
Parameters:

index (int) –

Expanded Path:
odrv.issues.get
length: uint32
read-only
Expanded Path:
odrv.issues.length
class ODrive.Auth
get_pub_key1() → tuple[int, int, int, int, int, int, int, int]
Expanded Path:
odrv.auth.get_pub_key1
get_cert1(part) → tuple[int, int, int, int]
Parameters:

part (int) –

Expanded Path:
odrv.auth.get_cert1
auth1(p0, p1, p2, p3) → tuple[int, int, int, int, int, int, int, int]
Parameters:
Expanded Path:
odrv.auth.auth1
class ODrive.HistogramLogger
swap()
get_stats() → tuple[int, float, float]
get_sum(begin, end) → int
Parameters:

  • begin (int) –

  • end (int) –

get_vals8(index) → tuple[int, int, int, int, int, int, int, int]
Parameters:

index (int) –

class ODrive.CircularLog
get_vals8(index) → tuple[int, int, int, int, int, int, int, int]
Parameters:

index (int) –

size: uint32
read-only
class ODrive.Config
enable_uart_a: bool
read-write

Enables/disables UART_A.

You also need to set the corresponding GPIOs to GpioMode.UART_A. Refer to the UART Interface page to see which pins support UART_A. Changing this requires a reboot.

Expanded Path:
odrv.config.enable_uart_a
uart_a_baudrate: [baud/s] - uint32
read-write

Defines the baudrate used on the UART interface.

Some baudrates will have a small timing error due to hardware limitations.

Here’s an (incomplete) list of baudrates for ODrive v3.x:

Configured

Actual

Error [%]

1.2 KBps

1.2 KBps

0

2.4 KBps

2.4 KBps

0

9.6 KBps

9.6 KBps

0

19.2 KBps

19.195 KBps

0.02

38.4 KBps

38.391 KBps

0.02

57.6 KBps

57.613 KBps

0.02

115.2 KBps

115.068 KBps

0.11

230.4 KBps

230.769 KBps

0.16

460.8 KBps

461.538 KBps

0.16

921.6 KBps

913.043 KBps

0.93

1.792 MBps

1.826 MBps

1.9

1.8432 MBps

1.826 MBps

0.93

For more information refer to Section 30.3.4 and Table 142 (the column with f_PCLK = 42 MHz) in the STM datasheet.

Expanded Path:
odrv.config.uart_a_baudrate
usb_cdc_protocol: ODrive.StreamProtocolType
read-write

The protocol that’s being run on the device’s virtual COM port on USB. Note that the ODrive has two independent interfaces on USB: One is the virtual COM port (affected by this option) and the other one is a vendor specific interface which always runs Fibre. So changing this option does not affect the working of odrivetool.

Expanded Path:
odrv.config.usb_cdc_protocol
uart0_protocol: ODrive.StreamProtocolType
read-write
Expanded Path:
odrv.config.uart0_protocol
max_regen_current: [Amp] - float32
read-write

The bus current allowed to flow back to the power supply before the brake resistor module will start shunting current.

Expanded Path:
odrv.config.max_regen_current
dc_bus_undervoltage_trip_level: [Volt] - float32
read-write

Minimum voltage below which the motor stops operating.

This parameter defaults and is limited to the board’s minimum operating voltage.

More info: Trip Levels

Expanded Path:
odrv.config.dc_bus_undervoltage_trip_level
dc_bus_overvoltage_trip_level: [Volt] - float32
read-write

Maximum DC bus voltage above which the motor stops operating.

This protects against cases in which the power supply fails to dissipate the brake power if the brake resistor is disabled.

This parameter defaults and is limited to the board’s maximum operating voltage.

On the ODrive S1, this parameter also influences the internal motor current limit, see ODrive S1 Datasheet.

On some revisions of ODrive S1, the board’s maximum operating voltage depends on config.brake_resistor0.enable. Refer to the specifications of your device for details.

More info: Trip Levels

Expanded Path:
odrv.config.dc_bus_overvoltage_trip_level
dc_max_positive_current: [Amp] - float32
read-write

Max current the power supply can source.

More info: Trip Levels

Expanded Path:
odrv.config.dc_max_positive_current
dc_max_negative_current: [Amp] - float32
read-write

Max current the power supply can sink.

This is the amount of current allowed to flow back into the power supply. The convention is that it is negative. By default, it is set to a conservative value of 10mA. If you are using a brake resistor and getting DC_BUS_OVER_REGEN_CURRENT errors, raise it slightly. If you are not using a brake resistor and you intend to send braking current back to the power supply, set this to a safe level for your power source. Note that in that case, it should be higher than your motor current limit + current limit margin.

Set to -INFINITY to disable.

More info: Trip Levels

Expanded Path:
odrv.config.dc_max_negative_current
user_config_0: uint32
read-write

General purpose user storage

See User Storage.

Expanded Path:
odrv.config.user_config_0
user_config_1: uint32
read-write

General purpose user storage

See User Storage.

Expanded Path:
odrv.config.user_config_1
user_config_2: uint32
read-write

General purpose user storage

See User Storage.

Expanded Path:
odrv.config.user_config_2
user_config_3: uint32
read-write

General purpose user storage

See User Storage.

Expanded Path:
odrv.config.user_config_3
user_config_4: uint32
read-write

General purpose user storage

See User Storage.

Expanded Path:
odrv.config.user_config_4
user_config_5: uint32
read-write

General purpose user storage

See User Storage.

Expanded Path:
odrv.config.user_config_5
user_config_6: uint32
read-write

General purpose user storage

See User Storage.

Expanded Path:
odrv.config.user_config_6
user_config_7: uint32
read-write

General purpose user storage

See User Storage.

Expanded Path:
odrv.config.user_config_7
class ODrive.Can
error: Property[ODrive.Can.Error]
read-write
Expanded Path:
odrv.can.error
n_restarts: uint32
read-write

Counter for how many times the CAN interface was restarted

Such restarts are usually caused by “bus-off” conditions, see also Bus-off handling.

If the ODrive is the only device on the bus, this counter can increment at a fairly high rate. Specifically, this happens when the ODrive is in addressed state, autobaud is disabled and cyclic messages such as heartbeats are enabled. If the ODrive is on a well-behaved CAN bus, it should not increment.

Expanded Path:
odrv.can.n_restarts
n_rx: uint32
read-write
Expanded Path:
odrv.can.n_rx
effective_baudrate: uint32
read-write

Shows the effective baudrate in use after autobaud detection

0 while autobaud is in progress or if the CAN interface is disabled.

Expanded Path:
odrv.can.effective_baudrate
config: ODrive.Can.Config
Expanded Path:
odrv.can.config
class ODrive.Endpoint
endpoint: endpoint_ref
read-write
Expanded Paths:
odrv.config.gpio11_analog_mapping.endpoint
odrv.config.gpio15_analog_mapping.endpoint
odrv.config.gpio16_analog_mapping.endpoint
odrv.config.gpio1_analog_mapping.endpoint
odrv.config.gpio5_analog_mapping.endpoint
odrv.config.gpio6_analog_mapping.endpoint
odrv.config.gpio8_pwm_mapping.endpoint
odrv.config.gpio9_pwm_mapping.endpoint
min: float32
read-write
Expanded Paths:
odrv.config.gpio11_analog_mapping.min
odrv.config.gpio15_analog_mapping.min
odrv.config.gpio16_analog_mapping.min
odrv.config.gpio1_analog_mapping.min
odrv.config.gpio5_analog_mapping.min
odrv.config.gpio6_analog_mapping.min
odrv.config.gpio8_pwm_mapping.min
odrv.config.gpio9_pwm_mapping.min
max: float32
read-write
Expanded Paths:
odrv.config.gpio11_analog_mapping.max
odrv.config.gpio15_analog_mapping.max
odrv.config.gpio16_analog_mapping.max
odrv.config.gpio1_analog_mapping.max
odrv.config.gpio5_analog_mapping.max
odrv.config.gpio6_analog_mapping.max
odrv.config.gpio8_pwm_mapping.max
odrv.config.gpio9_pwm_mapping.max
class ODrive.Axis
watchdog_feed()

Feed the watchdog to prevent watchdog timeouts.

Expanded Path:
odrv.axis0.watchdog_feed
set_abs_pos(pos) → float

Set the absolute position of the axis.

DEPRECATED: write to pos_estimate instead.

Returns the distance by which the reference was shifted. Add this to the previous position on any off-board controllers to effect an impulse free change of reference.

Parameters:

pos (float) –

Expanded Path:
odrv.axis0.set_abs_pos
active_errors: Property[ODrive.Error]
read-only

Indicates the current error condition(s) of the axis. Each error flag clears automatically when the error condition goes away. If an attempt is made to activate the axis while an error is present, the axis immediately disarms and disarm_reason is updated accordingly.

Expanded Path:
odrv.axis0.active_errors
disarm_reason: Property[ODrive.Error]
read-only

This value is updated every time the axis disarms and indicates the reason why the axis was disarmed. It can be cleared using clear_errors(). This variable is used for reporting only. It affects the status LED and the ERROR pin output but it does not prevent the axis from getting re-armed upon user request.

Expanded Path:
odrv.axis0.disarm_reason
detailed_disarm_reason: uint32
read-only

Adds more detail to disarm_reason. Not yet implemented for all error types.

Expanded Path:
odrv.axis0.detailed_disarm_reason
step_dir_active: bool
read-only
Expanded Path:
odrv.axis0.step_dir_active
last_drv_fault: uint32
read-only
Expanded Path:
odrv.axis0.last_drv_fault
steps: int64
read-only

The current commanded position, in steps, while in step_dir mode

Expanded Path:
odrv.axis0.steps
current_state: ODrive.Axis.AxisState
read-only

The current state of the axis

Expanded Path:
odrv.axis0.current_state
requested_state: ODrive.Axis.AxisState
read-write

The user’s commanded axis state

This is used to command the axis to change state or perform certain routines. Values input here will be “consumed” and queued by the state machine handler. Thus, reading this value back will usually show AxisState.UNDEFINED (0).

Expanded Path:
odrv.axis0.requested_state
pos_estimate: float32
read-write

Position estimate of the axis

This estimate is based on the configured load encoder.

All position setpoints are interpreted with respect to this position estimate.

With the default configuration, the origin (the position 0.0) corresponds to the physical startup position. For other options, see Position Reference Frame.

The scale is equal to the load encoder scale, so when the load encoder moves by one turn, this estimate moves by 1.0.

A value of NaN indicates that the encoder is not yet configured, not readable, or, when using an absolute reference frame, that the reference frame has not yet been initialized (e.g. axis is not yet homed).

The position estimate can be shifted by writing to this variable (see Custom User Reference Frame). Writing to this variable will set absolute_setpoints to true and shift input_pos and pos_setpoint accordingly, such that there is no impulse on the physical axis.

Expanded Path:
odrv.axis0.pos_estimate
vel_estimate: float32
read-only

Velocity estimate of the axis

By default, this estimate is based on the configured load encoder.

All velocity setpoints are interpreted with respect to this velocity estimate.

In some cases (for example in a dual-encoder setup where the load encoder sits behind a gearbox with backlash) it is more suitable to use the commutation encoder for velocity estimation. To do this, set use_commutation_vel to True and configure commutation_vel_scale.

Expanded Path:
odrv.axis0.vel_estimate
is_homed: bool
read-write

Whether or not the axis has been successfully homed.

Expanded Path:
odrv.axis0.is_homed
config: ODrive.Axis.Config
Expanded Path:
odrv.axis0.config
controller: ODrive.Controller
Expanded Path:
odrv.axis0.controller
trap_traj: ODrive.TrapezoidalTrajectory
Expanded Path:
odrv.axis0.trap_traj
min_endstop: ODrive.SwitchInput
Expanded Path:
odrv.axis0.min_endstop
max_endstop: ODrive.SwitchInput
Expanded Path:
odrv.axis0.max_endstop
enable_pin: ODrive.SwitchInput
Expanded Path:
odrv.axis0.enable_pin
mechanical_brake: ODrive.MechanicalBrake
Expanded Path:
odrv.axis0.mechanical_brake
pos_vel_mapper: ODrive.Mapper
Expanded Path:
odrv.axis0.pos_vel_mapper
commutation_mapper: ODrive.Mapper
Expanded Path:
odrv.axis0.commutation_mapper
interpolator: ODrive.Interpolator
Expanded Path:
odrv.axis0.interpolator
task_times: ODrive.Axis.TaskTimes
Expanded Path:
odrv.axis0.task_times
procedure_result: ODrive.ProcedureResult
read-only
Expanded Path:
odrv.axis0.procedure_result
disarm_time: float32
read-write
Expanded Path:
odrv.axis0.disarm_time
is_armed: bool
read-only
Expanded Path:
odrv.axis0.is_armed
observed_encoder_scale_factor: float32
read-write

Ratio between the encoder-to-motor scale observed during AxisState.ENCODER_OFFSET_CALIBRATION and the configured encoder-to-motor scale.

This value is updated at the end of AxisState.ENCODER_OFFSET_CALIBRATION if the result is either SUCCESS or POLE_PAIR_CPR_MISMATCH. This can be useful to debug configuration problems.

The value is approximately:

  • When using an incremental encoder for commutation:

    observed_encoder_scale_factor = true_pole_pairs / true_cpr * inc_encoder.config.cpr / config.motor.pole_pairs

  • When using any other encoder for commutation.

    observed_encoder_scale_factor = true_pole_pairs / config.motor.pole_pairs

When correctly configured, the value is close to 1.0.

Therefore:

The measurement is not exact, so always consult the Motor/Encoder specs before applying the observed result.

Expanded Path:
odrv.axis0.observed_encoder_scale_factor
class ODrive.BuiltinMotorAxis
motor: ODrive.BuiltinMotor
class ODrive.ExternalMotorAxis
motor: ODrive.ExternalMotor
Expanded Path:
odrv.axis0.motor
class ODrive.AnticoggingConfig

The variables prefixed with calib_ affect only the calibration procedure. Changes to those variables take effect on the next start of AxisState.ANTICOGGING_CALIBRATION (if a calibration is already ongoing, it is not affected by such changes).

Changes to all other variables take effect immediately (regardless of axis state).

set_map(idx, val)
Parameters:
Expanded Path:
odrv.axis0.config.anticogging.set_map
get_map(idx) → float
Parameters:

idx (int) –

Expanded Path:
odrv.axis0.config.anticogging.get_map
enabled: bool
read-write

Enables/disables the anticogging feedforward term.

If AxisState.ANTICOGGING_CALIBRATION has not been run yet, enabling this has no effect. This variable does not affect AxisState.ANTICOGGING_CALIBRATION. Changes to this variable take effect immediately.

Expanded Path:
odrv.axis0.config.anticogging.enabled
max_torque: [Nm] - float32
read-write

Maximum torque action that anticogging is allowed to exert.

This limit is honored during both AxisState.ANTICOGGING_CALIBRATION and normal operation. Changes to this variable take effect immediately, however if this value was too low during calibration, then the calibration must be repeated.

Expanded Path:
odrv.axis0.config.anticogging.max_torque
calib_start_vel: [rev/s] - float32
read-write

Start velocity of AxisState.ANTICOGGING_CALIBRATION.

Lower values usually yield better calibration accuracy, however the value must be high enough that the motor doesn’t ever come to a stop, even momentarily. This is to avoid any static friction. Furthermore if this value is too high you may get a CONTROL_DEADLINE_MISSED error.

Expanded Path:
odrv.axis0.config.anticogging.calib_start_vel
calib_end_vel: [rev/s] - float32
read-write

End velocity of AxisState.ANTICOGGING_CALIBRATION.

Lower values usually yield better calibration accuracy, however the value must be high enough that the motor doesn’t ever come to a stop, even momentarily. This is to avoid any static friction.

Expanded Path:
odrv.axis0.config.anticogging.calib_end_vel
calib_coarse_tuning_duration: [s] - float32
read-write

Duration of the coarse tuning (ramp down) phase.

Expanded Path:
odrv.axis0.config.anticogging.calib_coarse_tuning_duration
calib_fine_tuning_duration: [s] - float32
read-write

Duration of the fine tuning phase.

Expanded Path:
odrv.axis0.config.anticogging.calib_fine_tuning_duration
calib_fine_dist_scale: float32
read-write
Expanded Path:
odrv.axis0.config.anticogging.calib_fine_dist_scale
calib_coarse_integrator_gain: [(Nm/s)/(rev/s)] - float32
read-write

Integrator gain at the start of anticogging calibration.

Expanded Path:
odrv.axis0.config.anticogging.calib_coarse_integrator_gain
calib_bidirectional: bool
read-write

Whether to run the calibration in both directions

When true (default), the calibration runs in both directions. When false, the calibration only runs in the direction specified by the sign of calib_start_vel and calib_end_vel. When the motor is known to move in a single direction only during operation, running the calibration in that direction only can yield better results.

Expanded Path:
odrv.axis0.config.anticogging.calib_bidirectional
class ODrive.HarmonicCompensation

Parameters for harmonic compensation

More info: Harmonic Compensation

calib_vel: [rev/s] - float32
read-write

Motor velocity at which to spin during harmonic calibration

Expanded Paths:
odrv.axis0.config.harmonic_compensation.calib_vel
odrv.axis0.config.harmonic_compensation_commutation.calib_vel
calib_settling_delay: [s] - float32
read-write

Time to wait after spinup until data is used for calibration

Expanded Paths:
odrv.axis0.config.harmonic_compensation.calib_settling_delay
odrv.axis0.config.harmonic_compensation_commutation.calib_settling_delay
calib_turns: uint32
read-write

Number encoder turns to spin during harmonic calibration

Expanded Paths:
odrv.axis0.config.harmonic_compensation.calib_turns
odrv.axis0.config.harmonic_compensation_commutation.calib_turns
cosx_coef: float32
read-write
Expanded Paths:
odrv.axis0.config.harmonic_compensation.cosx_coef
odrv.axis0.config.harmonic_compensation_commutation.cosx_coef
sinx_coef: float32
read-write
Expanded Paths:
odrv.axis0.config.harmonic_compensation.sinx_coef
odrv.axis0.config.harmonic_compensation_commutation.sinx_coef
cos2x_coef: float32
read-write
Expanded Paths:
odrv.axis0.config.harmonic_compensation.cos2x_coef
odrv.axis0.config.harmonic_compensation_commutation.cos2x_coef
sin2x_coef: float32
read-write
Expanded Paths:
odrv.axis0.config.harmonic_compensation.sin2x_coef
odrv.axis0.config.harmonic_compensation_commutation.sin2x_coef
class ODrive.BrakeResistor
current_meas: float32
read-only
Expanded Path:
odrv.brake_resistor0.current_meas
current_meas_status: uint32
read-only
Expanded Path:
odrv.brake_resistor0.current_meas_status
duty: float32
read-only
Expanded Path:
odrv.brake_resistor0.duty
additional_duty: float32
read-writeexperimental

Additional duty cycle to add, on top of the value that is based on motor current and DC voltage.

Expanded Path:
odrv.brake_resistor0.additional_duty
current: [Amp] - float32
read-only

Calculated current dumped into the brake resistor.

This value is not measured but calculated based the configured brake resistance. It is therefore only reliable if the actual brake resistance matches the configured brake resistance.

In the future this might take into account feedback from current_meas.

Expanded Path:
odrv.brake_resistor0.current
chopper_temp: float32
read-only

Estimate of the brake resistor chopper temperature.

Expanded Path:
odrv.brake_resistor0.chopper_temp
is_armed: bool
read-only
Expanded Path:
odrv.brake_resistor0.is_armed
was_saturated: bool
read-write

Indicates if the brake resistor reached saturation. This flag is latching and needs to be reset by the client before it can indicate another saturation event.

Expanded Path:
odrv.brake_resistor0.was_saturated
class ODrive.BrakeResistorConfig
enable: bool
read-write

Enable/disable the use of a brake resistor.

Setting this to False even though a brake resistor is connected is harmless. Setting this to True even though no brake resistor is connected can break the power supply. Changes to this value require a reboot to take effect.

Setting this to true reduces the maximum value for config.dc_bus_overvoltage_trip_level on some revisions of ODrive S1. Refer to the specifications of your device for details.

Expanded Path:
odrv.config.brake_resistor0.enable
resistance: [Ohm] - float32
read-write

Value of the brake resistor connected to the ODrive.

Note that there may be some extra resistance in your wiring and in the screw terminals, so if you are getting issues while braking you may want to increase this parameter by around 0.05 ohm.

If you set this to a lower value than the true brake resistance then the ODrive will not meed the max_regen_current constraint during braking, that is it will sink more than max_regen_current into the power supply. Some power supplies don’t like this. If you set this to a higher value than the true brake resistance then the ODrive will unnecessarily burn more power than required during braking.

Expanded Path:
odrv.config.brake_resistor0.resistance
enable_dc_bus_voltage_feedback: bool
read-write

Enables the DC bus voltage feedback brake resistor feature.

If enabled, if the measured DC voltage exceeds dc_bus_voltage_feedback_ramp_start, the ODrive will sink additional power into the the brake resistor to bring or hold the voltage down.

The brake duty cycle is increased by the following amount:
Remarks:

  • This feature is active even when all motors are disarmed.

  • This feature is disabled if resistance is not a positive value.

Expanded Path:
odrv.config.brake_resistor0.enable_dc_bus_voltage_feedback
dc_bus_voltage_feedback_ramp_start: float32
read-write

See enable_dc_bus_voltage_feedback.

Do not set this lower than your usual ODrive.vbus_voltage,

Expanded Path:
odrv.config.brake_resistor0.dc_bus_voltage_feedback_ramp_start
dc_bus_voltage_feedback_ramp_end: float32
read-write

See enable_dc_bus_voltage_feedback.

Must be larger than dc_bus_voltage_feedback_ramp_start, otherwise the ramp feature is disabled.

Expanded Path:
odrv.config.brake_resistor0.dc_bus_voltage_feedback_ramp_end
class ODrive.Motor
alpha_beta_controller: ODrive.AlphaBetaFrameController
Expanded Path:
odrv.axis0.motor.alpha_beta_controller
foc: ODrive.FieldOrientedController
Expanded Path:
odrv.axis0.motor.foc
fet_thermistor: ODrive.OnboardThermalCurrentLimiter
Expanded Path:
odrv.axis0.motor.fet_thermistor
acim_estimator: ODrive.AcimEstimator
Expanded Path:
odrv.axis0.motor.acim_estimator
sensorless_estimator: ODrive.SensorlessEstimator
Expanded Path:
odrv.axis0.motor.sensorless_estimator
torque_estimate: [Nm] - float32
read-only

Motor torque from measured current and config.motor.torque_constant. This value is filtered using <axis>.config.motor.power_torque_report_filter_bandwidth.

Expanded Path:
odrv.axis0.motor.torque_estimate
mechanical_power: [W] - float32
read-only

Motor mechanical power (torque * speed)

This value is filtered using <axis>.config.motor.power_torque_report_filter_bandwidth.

Expanded Path:
odrv.axis0.motor.mechanical_power
electrical_power: [W] - float32
read-only

Motor electrical power (modulation * voltage * current)

This value is filtered using <axis>.config.motor.power_torque_report_filter_bandwidth.

Expanded Path:
odrv.axis0.motor.electrical_power
loss_power: [W] - float32
read-only

Estimated power loss in the inverter and motor

Equal to electrical_power - mechanical_power. This value is filtered using <axis>.config.motor.power_torque_report_filter_bandwidth.

Expanded Path:
odrv.axis0.motor.loss_power
effective_current_lim: [Amp] - float32
read-only

This value is the internally-limited value of phase current allowed according and is the minimum of the following:

  • config.motor.current_soft_max, optionally derated based on motor temperature.

  • config.inverter0.current_soft_max, optionally derated based on ODrive power stage temperature.

  • Maximum measurable current range

Expanded Path:
odrv.axis0.motor.effective_current_lim
resistance_calibration_I_beta: float32
read-only
Expanded Path:
odrv.axis0.motor.resistance_calibration_I_beta
input_id: [Amp] - float32
read-write

Feedforward term for d-axis current. If ACIM autoflux is enabled, this parameter has no effect.

Expanded Path:
odrv.axis0.motor.input_id
input_iq: [Amp] - float32
read-write

Feedforward term for q-axis current.

Expanded Path:
odrv.axis0.motor.input_iq
dc_calib: ODrive.Motor.DcCalib

Inverter DC calibration diagnostics

This is for diagnostics only and not for end user use.

Expanded Path:
odrv.axis0.motor.dc_calib
class ODrive.BuiltinMotor
motor_thermistor: ODrive.BuiltinThermalCurrentLimiter
class ODrive.ExternalMotor
motor_thermistor: ODrive.OffboardThermistorCurrentLimiter
Expanded Path:
odrv.axis0.motor.motor_thermistor
class ODrive.Mapper
set_abs_pos(pos) → float

Sets the absolute position of the Mapper.

This is a low level function for testing purposes. The controller setpoints are not shifted accordingly. To safely override the position estimate of the the axis, write to pos_estimate instead.

Parameters:

pos (float) –

Expanded Paths:
odrv.axis0.commutation_mapper.set_abs_pos
odrv.axis0.pos_vel_mapper.set_abs_pos
status: ODrive.ComponentStatus
read-only
Expanded Paths:
odrv.axis0.commutation_mapper.status
odrv.axis0.pos_vel_mapper.status
pos_rel: float32
read-only

Relative position since startup in turns. On the commutation_mapper this wraps around such that it’s always in [0, 1). On the pos_vel_mapper this wraps around if and only if <axis>.controller.config.circular_setpoints is set.

Expanded Paths:
odrv.axis0.commutation_mapper.pos_rel
odrv.axis0.pos_vel_mapper.pos_rel
pos_abs: float32
read-only

Absolute position. On pos_vel_mapper this is only available if the axis is homed.

Expanded Paths:
odrv.axis0.commutation_mapper.pos_abs
odrv.axis0.pos_vel_mapper.pos_abs
vel: float32
read-only
Expanded Paths:
odrv.axis0.commutation_mapper.vel
odrv.axis0.pos_vel_mapper.vel
working_offset: float32
read-only

For diagnostics only

Expanded Paths:
odrv.axis0.commutation_mapper.working_offset
odrv.axis0.pos_vel_mapper.working_offset
n_index_events: uint32
read-write

Counter for the number of index events or set_abs_pos() calls

Can be reset by the application by writing 0.

Expanded Paths:
odrv.axis0.commutation_mapper.n_index_events
odrv.axis0.pos_vel_mapper.n_index_events
config: ODrive.Mapper.Config
Expanded Paths:
odrv.axis0.commutation_mapper.config
odrv.axis0.pos_vel_mapper.config
class ODrive.OnboardEncoder
get_field_strength() → float

The measurement is a very rough estimate, discretized into 9 values:

<26mT (indicated as 0), 30mT, 45mT, 60mT, 74mT, 88mT, 102mT, 116mT, >120mT (indicated as inf)

Position readings on this encoder will be stopped for roughly 100ms when this function is called.

This is intended for development / end-of-line testing / diagnostics only. The function uses five NVM write cycles on the encoder, which is rated for only 1000 write cycles. Therefore this should not be used during regular operation.

Gives a rough estimate on the magnetic field strength at the encoder in Tesla.

Expanded Path:
odrv.onboard_encoder0.get_field_strength
status: ODrive.ComponentStatus
read-only
Expanded Path:
odrv.onboard_encoder0.status
raw: float32
read-only
Expanded Path:
odrv.onboard_encoder0.raw
class ODrive.Rs485Encoder
status: ODrive.ComponentStatus
read-only
Expanded Paths:
odrv.rs485_encoder_group0.status
odrv.rs485_encoder_group1.status
raw: float32
read-only
Expanded Paths:
odrv.rs485_encoder_group0.raw
odrv.rs485_encoder_group1.raw
raw32: uint32
read-onlyexperimental

Raw encoder angle with unrolled turn count in a 16.16 fixed point format.

Turn count initializes to 0 or -1, depending on initial encoder position.

Expanded Paths:
odrv.rs485_encoder_group0.raw32
odrv.rs485_encoder_group1.raw32
config: ODrive.Rs485Encoder.Config
Expanded Paths:
odrv.rs485_encoder_group0.config
odrv.rs485_encoder_group1.config
class ODrive.IncrementalEncoder
status: ODrive.ComponentStatus
read-only
Expanded Paths:
odrv.inc_encoder0.status
odrv.inc_encoder1.status
pos_min: float32
read-only
Expanded Paths:
odrv.inc_encoder0.pos_min
odrv.inc_encoder1.pos_min
pos_max: float32
read-only
Expanded Paths:
odrv.inc_encoder0.pos_max
odrv.inc_encoder1.pos_max
pos_residual: float32
read-only
Expanded Paths:
odrv.inc_encoder0.pos_residual
odrv.inc_encoder1.pos_residual
raw: uint16
read-only
Expanded Paths:
odrv.inc_encoder0.raw
odrv.inc_encoder1.raw
raw_wrapped: int32
read-only
Expanded Paths:
odrv.inc_encoder0.raw_wrapped
odrv.inc_encoder1.raw_wrapped
config: ODrive.IncrementalEncoder.Config
Expanded Paths:
odrv.inc_encoder0.config
odrv.inc_encoder1.config
class ODrive.HallEncoder
status: ODrive.ComponentStatus
read-only
Expanded Paths:
odrv.hall_encoder0.status
odrv.hall_encoder1.status
hall_cnt: uint8
read-only
Expanded Paths:
odrv.hall_encoder0.hall_cnt
odrv.hall_encoder1.hall_cnt
raw_hall_state: uint8
read-only
Expanded Paths:
odrv.hall_encoder0.raw_hall_state
odrv.hall_encoder1.raw_hall_state
abs_pos_min: float32
read-only
Expanded Paths:
odrv.hall_encoder0.abs_pos_min
odrv.hall_encoder1.abs_pos_min
abs_pos_max: float32
read-only
Expanded Paths:
odrv.hall_encoder0.abs_pos_max
odrv.hall_encoder1.abs_pos_max
config: ODrive.HallEncoder.Config
Expanded Paths:
odrv.hall_encoder0.config
odrv.hall_encoder1.config
class ODrive.SpiEncoder
get_field_strength() → float

Gives a rough estimate on the magnetic field strength at the encoder.

The unit depends on the encoder mode.

SpiEncoderMode.TLE: scale from 0…1023. This is a copy of the value MAG from the D_MAG register. See TLE5012B user manual for reference. Returns NAN in case of a communication error (e.g. encoder disconnected).

All other encoders: Not implemented. Returns NAN.

Expanded Paths:
odrv.spi_encoder0.get_field_strength
odrv.spi_encoder1.get_field_strength
status: ODrive.ComponentStatus
read-only
Expanded Paths:
odrv.spi_encoder0.status
odrv.spi_encoder1.status
raw: float32
read-only
Expanded Paths:
odrv.spi_encoder0.raw
odrv.spi_encoder1.raw
warning: bool
read-only

Warning state of this encoder.

Currently only valid for BiSS-C encoders. Contains warning bit from last BiSS-C transfer.

Expanded Paths:
odrv.spi_encoder0.warning
odrv.spi_encoder1.warning
n_errors: uint32
read-only

Number of error events of this encoder.

Wraps around to zero at 2^32-1.

Possible error events:

  • Transfer took too long.

  • Encoder reported an error (currently only applicable to SpiEncoderMode.AMS).

Expanded Paths:
odrv.spi_encoder0.n_errors
odrv.spi_encoder1.n_errors
inject_errors: bool
read-write

Deliberately injects occasional communication errors. For testing only.

Expanded Paths:
odrv.spi_encoder0.inject_errors
odrv.spi_encoder1.inject_errors
config: ODrive.SpiEncoder.Config
Expanded Paths:
odrv.spi_encoder0.config
odrv.spi_encoder1.config
class ODrive.EncoderEstimator
status: ODrive.ComponentStatus
read-only
Expanded Paths:
odrv.encoder_estimator0.status
odrv.encoder_estimator1.status
pos_estimate: float32
read-only
Expanded Paths:
odrv.encoder_estimator0.pos_estimate
odrv.encoder_estimator1.pos_estimate
vel_estimate: float32
read-only
Expanded Paths:
odrv.encoder_estimator0.vel_estimate
odrv.encoder_estimator1.vel_estimate
class ODrive.Interpolator
status: ODrive.ComponentStatus
read-only
Expanded Path:
odrv.axis0.interpolator.status
interpolation: float32
read-only
Expanded Path:
odrv.axis0.interpolator.interpolation
config: ODrive.Interpolator.Config
Expanded Path:
odrv.axis0.interpolator.config
class ODrive.OnboardThermalCurrentLimiter

See Temperature Regulation for details.

temperature: [Celsius] - float32
read-only
Expanded Path:
odrv.axis0.motor.fet_thermistor.temperature
class ODrive.BuiltinThermalCurrentLimiter

See Temperature Regulation for details.

temperature: [Celsius] - float32
read-only
config: ODrive.BuiltinThermalCurrentLimiter.Config
class ODrive.OffboardThermistorCurrentLimiter

See Temperature Regulation for details.

temperature: [Celsius] - float32
read-only
Expanded Path:
odrv.axis0.motor.motor_thermistor.temperature
config: ODrive.OffboardThermistorCurrentLimiter.Config
Expanded Path:
odrv.axis0.motor.motor_thermistor.config
class ODrive.AlphaBetaFrameController
current_meas_phA: float32
read-only
Expanded Path:
odrv.axis0.motor.alpha_beta_controller.current_meas_phA
current_meas_phB: float32
read-only
Expanded Path:
odrv.axis0.motor.alpha_beta_controller.current_meas_phB
current_meas_phC: float32
read-only
Expanded Path:
odrv.axis0.motor.alpha_beta_controller.current_meas_phC
current_meas_status_phA: uint32
read-only
Expanded Path:
odrv.axis0.motor.alpha_beta_controller.current_meas_status_phA
current_meas_status_phB: uint32
read-only
Expanded Path:
odrv.axis0.motor.alpha_beta_controller.current_meas_status_phB
current_meas_status_phC: uint32
read-only
Expanded Path:
odrv.axis0.motor.alpha_beta_controller.current_meas_status_phC
I_bus: [Amp] - float32
read-only

The current in the ODrive DC bus. This is also the current seen by the power supply in most systems.

Expanded Path:
odrv.axis0.motor.alpha_beta_controller.I_bus
Ialpha_measured: float32
read-only
Expanded Path:
odrv.axis0.motor.alpha_beta_controller.Ialpha_measured
Ibeta_measured: float32
read-only
Expanded Path:
odrv.axis0.motor.alpha_beta_controller.Ibeta_measured
max_measurable_current: [Amp] - float32
read-only

Indicates the maximum current that can be measured by the current sensors in the current hardware configuration. This value depends on <axis>.config.motor.current_hard_max and config.inverterN.current_hard_max.

Expanded Path:
odrv.axis0.motor.alpha_beta_controller.max_measurable_current
power: [Watt] - float32
read-only

DEPRECATED: Use <axis>.motor.electrical_power. The electrical power being delivered to the motor.

Expanded Path:
odrv.axis0.motor.alpha_beta_controller.power
n_evt_current_measurement: uint32
read-only

Number of current measurement events since startup (modulo 2^32)

Expanded Path:
odrv.axis0.motor.alpha_beta_controller.n_evt_current_measurement
n_evt_pwm_update: uint32
read-only

Number of PWM update events since startup (modulo 2^32)

Expanded Path:
odrv.axis0.motor.alpha_beta_controller.n_evt_pwm_update
class ODrive.FieldOrientedController
p_gain: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.p_gain
i_gain: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.i_gain
I_measured_report_filter_k: float32
read-write

Filter gain for the reported Id_measured and Iq_measured. Set to 1.0 to disable. This filter is only applied to the reported value and not for internal calculations.

This will create a first-order filter with a -3dB frequency of \(-8000*\ln(1-k)\) rad/s (e.g. \(-8000*\ln(1-k)/2\pi\) Hz), where \(k\) is I_measured_report_filter_k.

Expanded Path:
odrv.axis0.motor.foc.I_measured_report_filter_k
Id_setpoint: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.Id_setpoint
Iq_setpoint: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.Iq_setpoint
Vd_setpoint: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.Vd_setpoint
Vq_setpoint: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.Vq_setpoint
phase: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.phase
phase_vel: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.phase_vel
Id_measured: [Amp] - float32
read-only

The phase current measured along the “d” axis in the FOC control loop.

This should be close to 0 for typical surface permanent magnet motors.

Expanded Path:
odrv.axis0.motor.foc.Id_measured
Iq_measured: [Amp] - float32
read-only

The phase current measured along the “q” axis in the FOC control loop.

This is the torque-generating current, so motor torque is approx. torque_constant * Iq_measured

Expanded Path:
odrv.axis0.motor.foc.Iq_measured
v_current_control_integral_d: float32
read-write
Expanded Path:
odrv.axis0.motor.foc.v_current_control_integral_d
v_current_control_integral_q: float32
read-write
Expanded Path:
odrv.axis0.motor.foc.v_current_control_integral_q
mod_d: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.mod_d
mod_q: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.mod_q
mod_magn_sqr: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.mod_magn_sqr
final_v_alpha: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.final_v_alpha
final_v_beta: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.final_v_beta
Ierr_d: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.Ierr_d
Ierr_q: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.Ierr_q
Ierr_magn_sqr: float32
read-only
Expanded Path:
odrv.axis0.motor.foc.Ierr_magn_sqr
class ODrive.Oscilloscope
config(addr0, addr1, addr2, addr3, addr4, addr5, addr6, addr7, addr8)
Parameters:

  • addr0 (int) –

  • addr1 (int) –

  • addr2 (int) –

  • addr3 (int) –

  • addr4 (int) –

  • addr5 (int) –

  • addr6 (int) –

  • addr7 (int) –

  • addr8 (int) –

Expanded Path:
odrv.oscilloscope.config
trigger(trigger_point)
Parameters:

trigger_point (float) –

Expanded Path:
odrv.oscilloscope.trigger
trigger_high_res()
experimental
Expanded Path:
odrv.oscilloscope.trigger_high_res
get_raw(offset) → tuple[int, int, int, int]
Parameters:

offset (int) –

Expanded Path:
odrv.oscilloscope.get_raw
size: uint32
read-only
Expanded Path:
odrv.oscilloscope.size
pos: uint32
read-only
Expanded Path:
odrv.oscilloscope.pos
rollover: bool
read-only
Expanded Path:
odrv.oscilloscope.rollover
recording: bool
read-only
Expanded Path:
odrv.oscilloscope.recording
trigger_pos: uint32
read-only
Expanded Path:
odrv.oscilloscope.trigger_pos
triggered_at: uint32
read-only
Expanded Path:
odrv.oscilloscope.triggered_at
class ODrive.Debug
block(us)
Parameters:

us (int) –

Expanded Path:
odrv.debug.block
factory_data_start() → bool
Expanded Path:
odrv.debug.factory_data_start
factory_data_write(val)
Parameters:

val (int) –

Expanded Path:
odrv.debug.factory_data_write
factory_data_end(length) → bool
Parameters:

length (int) –

Expanded Path:
odrv.debug.factory_data_end
hal_ticks: uint32
read-only
Expanded Path:
odrv.debug.hal_ticks
adc_slot_0_raw: uint32
read-only
Expanded Path:
odrv.debug.adc_slot_0_raw
adc_slot_1_raw: uint32
read-only
Expanded Path:
odrv.debug.adc_slot_1_raw
adc_slot_2_raw: uint32
read-only
Expanded Path:
odrv.debug.adc_slot_2_raw
adc_slot_3_raw: uint32
read-only
Expanded Path:
odrv.debug.adc_slot_3_raw
adc_slot_4_raw: uint32
read-only
Expanded Path:
odrv.debug.adc_slot_4_raw
adc_slot_10_raw: uint32
read-only
Expanded Path:
odrv.debug.adc_slot_10_raw
vref: float32
read-only
Expanded Path:
odrv.debug.vref
mcu_temperature: float32
read-only
Expanded Path:
odrv.debug.mcu_temperature
factory_data_loaded: bool
read-only
Expanded Path:
odrv.debug.factory_data_loaded
class ODrive.AcimEstimator
rotor_flux: [Amp] - float32
read-only

estimated magnitude of the rotor flux

Expanded Path:
odrv.axis0.motor.acim_estimator.rotor_flux
slip_vel: [Hz] - float32
read-only

estimated slip between physical and electrical angular velocity}

Expanded Path:
odrv.axis0.motor.acim_estimator.slip_vel
phase_offset: [cycles] - float32
read-only

estimate offset between physical and electrical angular position}

Expanded Path:
odrv.axis0.motor.acim_estimator.phase_offset
stator_phase_vel: [Hz] - float32
read-only

calculated setpoint for the electrical velocity}

Expanded Path:
odrv.axis0.motor.acim_estimator.stator_phase_vel
stator_phase: [cycles] - float32
read-only

calculated setpoint for the electrical phase}

Expanded Path:
odrv.axis0.motor.acim_estimator.stator_phase
class ODrive.Controller
move_incremental(displacement, from_input_pos)

Moves the axes’ goal point by a specified increment.

Parameters:

  • displacement (float) – The desired position change.

  • from_input_pos (bool) – If true, the increment is applied relative to input_pos. If false, the increment is applied relative to pos_setpoint, which usually corresponds roughly to the current position of the axis.

Expanded Path:
odrv.axis0.controller.move_incremental
input_pos: [rev] - float32
read-write

Set the desired position of the axis. Only valid in ControlMode.POSITION_CONTROL. In InputMode.TUNING, this acts as a DC offset for the position sine wave.

Expanded Path:
odrv.axis0.controller.input_pos
input_vel: [rev/s] - float32
read-write

In ControlMode.VELOCITY_CONTROL, sets the desired velocity of the axis. In ControlMode.POSITION_CONTROL, sets the feed-forward velocity of the velocity controller In InputMode.TUNING, this acts as a DC offset for the velocity sine wave.

Expanded Path:
odrv.axis0.controller.input_vel
input_torque: [Nm] - float32
read-write

In ControlMode.TORQUE_CONTROL, sets the desired output torque of the axis. In ControlMode.VELOCITY_CONTROL and ControlMode.POSITION_CONTROL, sets the feed-forward torque of the torque controller in InputMode.VEL_RAMP, InputMode.POS_FILTER, InputMode.TRAP_TRAJ, and InputMode.TUNING

Expanded Path:
odrv.axis0.controller.input_torque
pos_setpoint: [rev] - float32
read-only

The position reference actually being used by the position controller. This is the same as input_pos in InputMode.PASSTHROUGH, but may vary according to InputMode.

Expanded Path:
odrv.axis0.controller.pos_setpoint
vel_setpoint: [rev/s] - float32
read-only

The velocity reference actually being used by the velocity controller. This is the same as input_vel in InputMode.PASSTHROUGH, but may vary according to InputMode.

Expanded Path:
odrv.axis0.controller.vel_setpoint
torque_setpoint: [Nm] - float32
read-only

The torque reference actually being used by the torque controller. This is the same as input_torque in InputMode.PASSTHROUGH, but may vary according to InputMode.

Expanded Path:
odrv.axis0.controller.torque_setpoint
effective_torque_setpoint: [Nm] - float32
read-only

The torque output generated by the controller and fed to the motor model.

Expanded Path:
odrv.axis0.controller.effective_torque_setpoint
trajectory_done: bool
read-only

Indicates the last commanded Trapezoidal Trajectory movement is complete.

Expanded Path:
odrv.axis0.controller.trajectory_done
vel_integrator_torque: [Nm] - float32
read-write

The accumulated value of the velocity loop integrator

Expanded Path:
odrv.axis0.controller.vel_integrator_torque
autotuning_phase: [rad] - float32
read-write

The current phase angle of the InputMode.TUNING sine wave generator

Expanded Path:
odrv.axis0.controller.autotuning_phase
config: ODrive.Controller.Config
Expanded Path:
odrv.axis0.controller.config
autotuning: ODrive.Controller.Autotuning
Expanded Path:
odrv.axis0.controller.autotuning
spinout_mechanical_power: [Watt] - float32
read-only

Mechanical power estimate. Torque * velocity

Expanded Path:
odrv.axis0.controller.spinout_mechanical_power
spinout_electrical_power: [Watt] - float32
read-only

Electrical power estimate. Vdq*Idq

Expanded Path:
odrv.axis0.controller.spinout_electrical_power
class ODrive.SensorlessEstimator
phase: [rad] - float32
read-only
Expanded Path:
odrv.axis0.motor.sensorless_estimator.phase
pll_pos: [rad] - float32
read-only
Expanded Path:
odrv.axis0.motor.sensorless_estimator.pll_pos
phase_vel: [rad/s] - float32
read-only
Expanded Path:
odrv.axis0.motor.sensorless_estimator.phase_vel
class ODrive.TrapezoidalTrajectory
config: ODrive.TrapezoidalTrajectory.Config
Expanded Path:
odrv.axis0.trap_traj.config
class ODrive.SwitchInput
state: bool
read-only
Expanded Paths:
odrv.axis0.enable_pin.state
odrv.axis0.max_endstop.state
odrv.axis0.min_endstop.state
config: ODrive.SwitchInput.Config

All configuration changes in this class take effect immediately without reboot, regardless of axis state.

Expanded Paths:
odrv.axis0.enable_pin.config
odrv.axis0.max_endstop.config
odrv.axis0.min_endstop.config
class ODrive.MechanicalBrake
engage()

This function engages the mechanical brake if one is present and enabled.

Expanded Path:
odrv.axis0.mechanical_brake.engage
release()

This function releases the mechanical brake if one is present and enabled.

Expanded Path:
odrv.axis0.mechanical_brake.release
config: ODrive.MechanicalBrake.Config
Expanded Path:
odrv.axis0.mechanical_brake.config
class ODrive.TaskTimer
start_time: uint32
read-only
Expanded Paths:
odrv.axis0.task_times.acim_estimator_update.start_time
odrv.axis0.task_times.can_heartbeat.start_time
odrv.axis0.task_times.controller_update.start_time
odrv.axis0.task_times.current_controller_update.start_time
odrv.axis0.task_times.current_sense.start_time
odrv.axis0.task_times.endstop_update.start_time
odrv.axis0.task_times.motor_update.start_time
odrv.axis0.task_times.open_loop_vector_generator_update.start_time
odrv.axis0.task_times.pwm_update.start_time
odrv.axis0.task_times.sensorless_estimator_update.start_time
odrv.axis0.task_times.thermistor_update.start_time
odrv.task_times.control_loop_checks.start_time
odrv.task_times.control_loop_misc.start_time
odrv.task_times.current_sense_wait.start_time
odrv.task_times.dc_calib_wait.start_time
odrv.task_times.encoder_update.start_time
odrv.task_times.sampling.start_time
end_time: uint32
read-only
Expanded Paths:
odrv.axis0.task_times.acim_estimator_update.end_time
odrv.axis0.task_times.can_heartbeat.end_time
odrv.axis0.task_times.controller_update.end_time
odrv.axis0.task_times.current_controller_update.end_time
odrv.axis0.task_times.current_sense.end_time
odrv.axis0.task_times.endstop_update.end_time
odrv.axis0.task_times.motor_update.end_time
odrv.axis0.task_times.open_loop_vector_generator_update.end_time
odrv.axis0.task_times.pwm_update.end_time
odrv.axis0.task_times.sensorless_estimator_update.end_time
odrv.axis0.task_times.thermistor_update.end_time
odrv.task_times.control_loop_checks.end_time
odrv.task_times.control_loop_misc.end_time
odrv.task_times.current_sense_wait.end_time
odrv.task_times.dc_calib_wait.end_time
odrv.task_times.encoder_update.end_time
odrv.task_times.sampling.end_time
length: uint32
read-only
Expanded Paths:
odrv.axis0.task_times.acim_estimator_update.length
odrv.axis0.task_times.can_heartbeat.length
odrv.axis0.task_times.controller_update.length
odrv.axis0.task_times.current_controller_update.length
odrv.axis0.task_times.current_sense.length
odrv.axis0.task_times.endstop_update.length
odrv.axis0.task_times.motor_update.length
odrv.axis0.task_times.open_loop_vector_generator_update.length
odrv.axis0.task_times.pwm_update.length
odrv.axis0.task_times.sensorless_estimator_update.length
odrv.axis0.task_times.thermistor_update.length
odrv.task_times.control_loop_checks.length
odrv.task_times.control_loop_misc.length
odrv.task_times.current_sense_wait.length
odrv.task_times.dc_calib_wait.length
odrv.task_times.encoder_update.length
odrv.task_times.sampling.length
max_length: uint32
read-write
Expanded Paths:
odrv.axis0.task_times.acim_estimator_update.max_length
odrv.axis0.task_times.can_heartbeat.max_length
odrv.axis0.task_times.controller_update.max_length
odrv.axis0.task_times.current_controller_update.max_length
odrv.axis0.task_times.current_sense.max_length
odrv.axis0.task_times.endstop_update.max_length
odrv.axis0.task_times.motor_update.max_length
odrv.axis0.task_times.open_loop_vector_generator_update.max_length
odrv.axis0.task_times.pwm_update.max_length
odrv.axis0.task_times.sensorless_estimator_update.max_length
odrv.axis0.task_times.thermistor_update.max_length
odrv.task_times.control_loop_checks.max_length
odrv.task_times.control_loop_misc.max_length
odrv.task_times.current_sense_wait.max_length
odrv.task_times.dc_calib_wait.max_length
odrv.task_times.encoder_update.max_length
odrv.task_times.sampling.max_length
class ODrive.InverterConfig
current_soft_max: [Amp] - float32
read-write

Maximum commanded current allowed for this inverter. See also motor.current_soft_max.

Writes to this parameter are ignored unless in developer mode.

Expanded Path:
odrv.config.inverter0.current_soft_max
current_hard_max: [Amp] - float32
read-write

Maximum measured current allowed for this inverter. Any measurement above current_hard_max will throw a CURRENT_LIMIT_VIOLATION error. See also motor.current_hard_max.

Writes to this parameter are ignored unless in developer mode.

Expanded Path:
odrv.config.inverter0.current_hard_max
temp_limit_lower: float32
read-write

The lower limit when the controller starts limiting current. Writes to this parameter are ignored unless in developer mode.

Expanded Path:
odrv.config.inverter0.temp_limit_lower
temp_limit_upper: float32
read-write

The upper limit when current limit reaches 0 Amps and an over temperature error is triggered. Writes to this parameter are ignored unless in developer mode.

Expanded Path:
odrv.config.inverter0.temp_limit_upper
mod_magn_max: float32
read-write

Maximum modulation depth

sqrt(3)/2 corresponds to an ideal inverter. Writes to this parameter are ignored unless in developer mode.

Expanded Path:
odrv.config.inverter0.mod_magn_max
shunt_conductance: float32
read-write

Set this to 1.0 / R_shunt if you have modified the shunt resistors. Writes to this parameter are ignored unless in developer mode.

Expanded Path:
odrv.config.inverter0.shunt_conductance
drv_config: uint64
read-write

Do not modify unless you know what you’re doing. Writes to this parameter are ignored unless in developer mode.

Expanded Path:
odrv.config.inverter0.drv_config
class ODrive.GpioMode
DIGITAL = 0 (0x0)

The pin can be used for one or more of these functions: Step, dir, enable, encoder index, hall effect encoder, SPI encoder nCS (this one is exclusive).

DIGITAL_PULL_UP = 1 (0x1)

Same as DIGITAL but with the internal pull-up resistor enabled.

DIGITAL_PULL_DOWN = 2 (0x2)

Same as DIGITAL but with the internal pull-down resistor enabled.

ANALOG_IN = 3 (0x3)

The pin can be used for one or more of these functions: Sin/cos encoders, analog input, get_adc_voltage().

UART_A = 4 (0x4)

See config.enable_uart_a.

UART_B = 5 (0x5)

This mode is not supported on ODrive v3.x.

UART_C = 6 (0x6)

This mode is not supported on ODrive v3.x.

CAN_A = 7 (0x7)

See config.enable_can_a.

I2C_A = 8 (0x8)

See config.enable_i2c_a.

SPI_A = 9 (0x9)

Note that the SPI pins on ODrive v3.x are hardwired so they cannot be configured through software. Consequently, even though SPI_A is exposed, this mode is of no use on ODrive v3.x.

PWM = 10 (0xA)

See PWM input.

ENC0 = 11 (0xB)

The pin is used by quadrature encoder 0.

ENC1 = 12 (0xC)

The pin is used by quadrature encoder 1.

ENC2 = 13 (0xD)

This mode is not supported on ODrive v3.x.

MECH_BRAKE = 14 (0xE)

This is to support external mechanical brakes.

STATUS = 15 (0xF)

The pin is used for status output (see axis.config.error_gpio_pin)

BRAKE_RES = 16 (0x10)

The pin is used to control a brake resistor board.

AUTO = 17 (0x11)

Let the ODrive decide how to use the pin. If multiple components try to use the same pin only one of them will be initialized and the other one will have a status of kBadConfig.

class ODrive.StreamProtocolType
FIBRE = 0 (0x0)

Deprecated. For machine-to-machine communication it is recommended to use CAN bus instead.

ASCII = 1 (0x1)

Human readable protocol designed for easy implementation for cases where the use of libfibre is not desired or feasible. Refer to this page ` for details.

STDOUT = 2 (0x2)

Output of printf(). Only intended for developers who modify ODrive firmware.

ASCII_AND_STDOUT = 3 (0x3)

Combination of Ascii and Stdout.

OTHER = 4 (0x4)

Reserved.

class ODrive.ComponentStatus
NOMINAL = 0 (0x0)
NO_RESPONSE = 1 (0x1)
INVALID_RESPONSE_LENGTH = 2 (0x2)
PARITY_MISMATCH = 3 (0x3)
ILLEGAL_HALL_STATE = 4 (0x4)
POLARITY_NOT_CALIBRATED = 5 (0x5)
PHASES_NOT_CALIBRATED = 6 (0x6)
NUMERICAL_ERROR = 7 (0x7)
MISSING_INPUT = 8 (0x8)
RELATIVE_MODE = 9 (0x9)
UNCONFIGURED = 10 (0xA)
OVERSPEED = 11 (0xB)
INDEX_NOT_FOUND = 12 (0xC)
BAD_CONFIG = 13 (0xD)
NOT_ENABLED = 14 (0xE)
SPINOUT_DETECTED = 15 (0xF)
class ODrive.Error
INITIALIZING = 1 (0x1)

The system is initializing or reconfiguring.

SYSTEM_LEVEL = 2 (0x2)

Unexpected system error such as memory corruption, stack overflow, frozen thread, assert fail etc. This error is indicates firmware bug.

TIMING_ERROR = 4 (0x4)

An internal hard timing requirement was violated. This usually means that the device is computationally overloaded, either due to a specific user configuration or due to a firmware bug. This error should not occur during normal operation and can be considered similar to SYSTEM_ERROR.

MISSING_ESTIMATE = 8 (0x8)

The position estimate, velocity estimate or phase estimate was needed but invalid. This can mean:

  • The encoder has not been calibrated. Consult the documentation to see how to calibrate various encoder types.

  • Absolute position control was used before the axis was homed.

  • One of the active encoders is misbehaving or disconnected. Check the error information of all enabled encoders to see if this is the case.

BAD_CONFIG = 16 (0x10)

The ODrive configuration is invalid or incomplete. If you configured the ODrive through the GUI, this indicates a bug in the GUI.

Please verify the following:

  • axis.config.motor.direction is -1 or +1

  • axis.config.torque_soft_min <= axis.config.torque_soft_max

  • config.enable_brake_resistor = False or config.brake_resistor0.resistance > 0

  • axis.config.motor.phase_resistance and axis.config.motor.phase_inductance are valid, axis.config.motor.phase_resistance_valid = True and, axis.config.motor.phase_inductance_valid = True

DRV_FAULT = 32 (0x20)

The gate driver chip reported an error.

If this keeps occurring during normal operation within the device’s specified operating conditions this can indicate hardware damage.

MISSING_INPUT = 64 (0x40)

No value was provided for input_pos, input_vel or input_torque.

This typically happens when using RC PWM as input and entering AxisState.CLOSED_LOOP_CONTROL before any pulse was registered. Make sure the PWM input is configured and connected correctly.

DC_BUS_OVER_VOLTAGE = 256 (0x100)

The DC voltage exceeded the limit configured in config.dc_bus_overvoltage_trip_level.

Confirm that you have a brake resistor of the correct value connected securely and that config.brake_resistor0.resistance is set to the value of your brake resistor.

You can monitor your PSU voltage using liveplotter in odrivetool by entering start_liveplotter(lambda: [odrv0.vbus_voltage]). If during a move you see the voltage rise above your PSU’s nominal set voltage then you have your brake resistance set too low. This may happen if you are using long wires or small gauge wires to connect your brake resistor to your odrive which will added extra resistance. This extra resistance needs to be accounted for to prevent this voltage spike. If you have checked all your connections you can also try increasing your brake resistance by ~ 0.01 ohm at a time to a maximum of 0.05 greater than your brake resistor value.

DC_BUS_UNDER_VOLTAGE = 512 (0x200)

The DC voltage fell below the limit configured in config.dc_bus_undervoltage_trip_level.

Confirm that your power leads are connected securely. For initial testing a 12V PSU which can supply a couple of amps should be sufficient while the use of low current ‘wall wart’ plug packs may lead to inconsistent behaviour and is not recommended.

You can monitor your PSU voltage using liveplotter in odrivetool by entering start_liveplotter(lambda: [odrv0.vbus_voltage]). If you see your votlage drop below config.dc_bus_undervoltage_trip_level (default: ~ 8V) then you will trip this error. Even a relatively small motor can draw multiple kW momentary and so unless you have a very large PSU or are running of a battery you may encounter this error when executing high speed movements with a high current limit. To limit your PSU power draw you can limit your motor current and/or velocity limit <axis>.controller.config.vel_limit and <axis>.config.motor.current_soft_max.

DC_BUS_OVER_CURRENT = 1024 (0x400)

Too much DC current was pulled, either at the motor level or at the board level (these two are identical for boards that don’t support a brake resistor).

DC_BUS_OVER_REGEN_CURRENT = 2048 (0x800)

Too much DC current was regenerated, either at the motor level or at the board level (these two are identical for boards that don’t support a brake resistor).

This can happen if your brake resistor is unable to handle the braking current. Check that (V_power_supply / brake_resistance) > <axis>.config.motor.current_hard_max.

CURRENT_LIMIT_VIOLATION = 4096 (0x1000)

The motor current exceeded <axis>.config.motor.current_hard_max. or config.inverterN.current_hard_max.

The current controller tries not to exceed <axis>.config.motor.current_soft_max, however a bit of overshoot is normal. Therefore, if you get this error, try to increase the margin between the soft and hard current limits.

If you have to increase the margin to more than 40% then something else might be wrong, for instance the motor could be damaged or the current controller might be unstable.

The current controller is a PI controller and its PI gains are automatically calculated based on config.motor.current_control_bandwidth and the motor resistance and inductance (pole placement). If you suspect an unstable current controller, make sure to review these variables.

MOTOR_OVER_TEMP = 8192 (0x2000)

The motor thermistor measured a temperature above motor.motor_thermistor.config.temp_limit_upper

INVERTER_OVER_TEMP = 16384 (0x4000)

The inverter thermistor measured a temperature above motor.fet_thermistor.config.temp_limit_upper

VELOCITY_LIMIT_VIOLATION = 32768 (0x8000)

The estimated velocity exceeds vel_limit_tolerance * vel_limit

POSITION_LIMIT_VIOLATION = 65536 (0x10000)
WATCHDOG_TIMER_EXPIRED = 16777216 (0x1000000)

The axis watchdog timer expired.

An amount of time greater than config.watchdog_timeout passed without the watchdog being fed.

ESTOP_REQUESTED = 33554432 (0x2000000)
An estop was requested from an external source. This can mean:

  • The estop message was received on CAN

  • An endstop was pressed

SPINOUT_DETECTED = 67108864 (0x4000000)

A discrepancy between electrical power and mechanical power has been detected, indicating a spinout situation. See Spinout Detection for details.

BRAKE_RESISTOR_DISARMED = 134217728 (0x8000000)

Another component (axis or brake resistor) on the ODrive failed. Most commonly this error indicates that the brake resistor was disarmed (e.g. during an undervoltage condition) and can be rectified by fixing the root cause (e.g. undervoltage condition) and then clearing errors.

THERMISTOR_DISCONNECTED = 268435456 (0x10000000)

The motor thermistor is enabled but disconnected. This is determined by the analog voltage lying too close to 0V or 3.3V.

CALIBRATION_ERROR = 1073741824 (0x40000000)

A calibration procedure failed. See procedure_result for details.

class ODrive.ProcedureResult
SUCCESS = 0 (0x0)

The procedure finished without any faults.

BUSY = 1 (0x1)

The procedure has not yet finished.

CANCELLED = 2 (0x2)

The last procedure was cancelled by the user.

DISARMED = 3 (0x3)

A fault was encountered and the axis has been disarmed. See disarm_reason for more info.

NO_RESPONSE = 4 (0x4)

The procedure component did not respond as expected

Most likely due to an improperly connected/configured encoder.

  • Verify the encoder configuration matches the hardware

  • Check that the encoder is powered and all signals are connected correctly

POLE_PAIR_CPR_MISMATCH = 5 (0x5)

The values of config.motor.pole_pairs and/or inc_encoder0.config.cpr do not corroborate the measured rotations. Please verify these settings match the hardware.

For details, see observed_encoder_scale_factor.

Note

If not using an incremental encoder the cpr value is not used and can be ignored

PHASE_RESISTANCE_OUT_OF_RANGE = 6 (0x6)

The measured motor phase resistance is outside of the plausible range or bad calibration parameters were used.

During calibration the motor resistance and inductance is measured. If the measured motor resistance or inductance falls outside a predefined range, either PHASE_RESISTANCE_OUT_OF_RANGE or PHASE_INDUCTANCE_OUT_OF_RANGE will be returned. Check that all motor leads are connected securely.

These errors can also indicate that resistance_calib_max_voltage is outside of the feasible range (see below).

The measured values can be viewed using odrivetool as is shown below:

In [2]: odrv0.axis0.config.motor.phase_inductance
Out[2]: 1.408751450071577e-05
In [3]: odrv0.axis0.config.motor.phase_resistance
Out[3]: 0.029788672924041748

Some motors will have a considerably different phase resistance and inductance than this. For example, gimbal motors, some small motors (e.g. < 10A peak current). If you think this applies to you try increasing config.motor.resistance_calib_max_voltage from its default value of 1 and repeat the motor calibration process. Increasing this value beyond the feasible range (around half of DC voltage) has no effect. Therefore, if you maxed out config.motor.resistance_calib_max_voltage and still get calibration errors, try reducing config.motor.calibration_current.

If your motor has a small peak current rating (e.g. < 20A) you should also decrease config.motor.calibration_current from its default value of 10A.

In general, you need:

PHASE_INDUCTANCE_OUT_OF_RANGE = 7 (0x7)

The measured motor phase inductance is outside of the plausible range or bad calibration parameters were used.

See PHASE_RESISTANCE_OUT_OF_RANGE for details.

UNBALANCED_PHASES = 8 (0x8)

The motor phase resistances are not balanced. Please check your connections.

INVALID_MOTOR_TYPE = 9 (0x9)

The value of ...config.motor.motor_type is not defined in the MotorType enum.

ILLEGAL_HALL_STATE = 10 (0xA)

During hall encoder calibration the ODrive detected too many bad hall states. Make sure your encoder is wired correctly and produces a clean signal.

TIMEOUT = 11 (0xB)
HOMING_WITHOUT_ENDSTOP = 12 (0xC)

Homing was requested without enabling the endstop. Make sure <axis>.min_endstop.config.enabled <ODrive.Endstop.Config>enabled is True.

INVALID_STATE = 13 (0xD)

The requested state must be a valid AxisState.

NOT_CALIBRATED = 14 (0xE)

The requested state could not be entered because the axis is not calibrated.

The required calibrations depend on the axis configuration, the requested state and the requested control mode.

The most common cause for this error is requesting AxisState.CLOSED_LOOP_CONTROL before first running AxisState.MOTOR_CALIBRATION and AxisState.ENCODER_OFFSET_CALIBRATION.

NOT_CONVERGING = 15 (0xF)

The calibration did not converge.

The measurements made during a calibration task did not reach sufficient statistical significance.

For instance during AxisState.ENCODER_OFFSET_CALIBRATION the encoder did not move sufficiently to determine the direction between encoder and motor.

Try changing the calibration parameters.

class ODrive.EncoderId
NONE = 0 (0x0)
INC_ENCODER0 = 1 (0x1)
INC_ENCODER1 = 2 (0x2)
INC_ENCODER2 = 3 (0x3)
SENSORLESS_ESTIMATOR = 4 (0x4)
SPI_ENCODER0 = 5 (0x5)
SPI_ENCODER1 = 6 (0x6)
SPI_ENCODER2 = 7 (0x7)
HALL_ENCODER0 = 8 (0x8)
HALL_ENCODER1 = 9 (0x9)
RS485_ENCODER0 = 10 (0xA)
RS485_ENCODER1 = 11 (0xB)
RS485_ENCODER2 = 12 (0xC)
ONBOARD_ENCODER0 = 13 (0xD)
ONBOARD_ENCODER1 = 14 (0xE)
class ODrive.SpiEncoderMode
DISABLED = 0 (0x0)

Disable this encoder instance

RLS = 1 (0x1)
experimental
Compatible encoders:
AMS = 2 (0x2)
Compatible encoders:
CUI = 3 (0x3)
Compatible encoders:
AEAT = 4 (0x4)
experimental
Compatible encoders:
MA732 = 5 (0x5)
Compatible encoders:
TLE = 6 (0x6)
experimental
Compatible encoders:
BISSC = 7 (0x7)
experimental
Compatible encoders:
NOVOHALL = 8 (0x8)
experimental
Compatible encoders:
class ODrive.IncrementalEncoderFilter
SPEED_10M = 0 (0x0)

A/B inputs support a frequency of up to 2.5MHz (10M counts/s)

SPEED_20M = 1 (0x1)

A/B inputs support a frequency of up to 5MHz (20M counts/s)

class ODrive.Rs485EncoderMode
DISABLED = 0 (0x0)

Disable this encoder instance

AMT21_POLLING = 1 (0x1)

Standard CUI AMT21 protocol

Compatible encoders:

Not compatible with AMT21xB-V-OD sold on the ODrive shop (see AMT21_EVENT_DRIVEN instead).

The standard AMT21 variants are not recommended for high-RPM applications due to aliasing issues.

AMT21_EVENT_DRIVEN = 2 (0x2)

ODrive customized AMT21 protocol

Only compatible with AMT21 encoder variants sold through ODrive.

ODrive variants of the AMT21 use a customized protocol to avoid aliasing issues that can occur at high RPM and could otherwise cause the current controller to go unstable and lead to current limit violation faults.

Compatible encoders:
MBS = 3 (0x3)
ODRIVE_OA1 = 4 (0x4)
Compatible encoders:
class ODrive.MotorType
PMSM_CURRENT_CONTROL = 0 (0x0)

Standard 3-phase motor current control.

Used for Permanant Magnet AC (PMAC), Brushless DC (BLDC) and Permanent Magnet Synchronous Motors (PMSM). Most 3 phase motors are of this type (if not explicitly called steppers or ACIM).

If the motor’s nominal current is less than 5% of the current rating of the ODrive you’re using, consider using PMSM_VOLTAGE_CONTROL instead.

Note: Assumes sinusoidal back-EMF. Trapezoidal back-EMF may have reduced controllability.

PMSM_VOLTAGE_CONTROL = 2 (0x2)

Disables closed loop current control.

Similar to PMSM_CURRENT_CONTROL, but bypasses the closed loop current controller, using the feedforward term V=IR only.

This can be useful when the motor is used with a nominal current significantly below the ODrive’s current rating. This is the case for instance with high-phase-resistance motors (> 1 ohm), which are typically sold as “Gimbal” motors, when used with ODrive Pro or ODrive S1. In such cases, closed loop current control gives a worse result than open loop control across the motor resistance.

On ODrive Micro, it is almost always recommended to use PMSM_CURRENT_CONTROL instead, even with high-phase-resistance (“Gimbal”) motors.

phase_resistance must be configured correctly, otherwise the actual torque will not match the commanded torque.

ACIM = 3 (0x3)
experimental

Used for FOC control of AC Induction Motors (ACIM), aka Asynchronous motors,

class ODrive.ThermistorMode
NTC = 1 (0x1)

NTC thermistor

Uses the model:

\(r(t) = r_{ref} \cdot e^{\beta\left(\frac{1}{t}-\frac{1}{t_{ref}}\right)}\)

r_ref, t_ref and beta must be configured by the user.

QUADRATIC = 2 (0x2)

Can be used for any thermistor that can be expressed as a quadratic function.

Uses the model:

\(r(t) = r_{ref} + a t + b t^2\) where t is in °C.

r_ref, a and b must be configured by the user.

PT1000 = 3 (0x3)

PT1000 thermistor

KTY84 = 4 (0x4)
experimental

KTY84/130 or KTY84/150 thermistor

See also datasheet.

KTY83_122 = 5 (0x5)
experimental

KTY83/122 thermistor

See also datasheet.

class ODrive.SystemStats.Usb
rx_cnt: uint32
read-only
Expanded Path:
odrv.system_stats.usb.rx_cnt
tx_cnt: uint32
read-only
Expanded Path:
odrv.system_stats.usb.tx_cnt
tx_overrun_cnt: uint32
read-only
Expanded Path:
odrv.system_stats.usb.tx_overrun_cnt
class ODrive.SystemStats.I2C
addr: uint8
read-only
Expanded Path:
odrv.system_stats.i2c.addr
addr_match_cnt: uint32
read-only
Expanded Path:
odrv.system_stats.i2c.addr_match_cnt
rx_cnt: uint32
read-only
Expanded Path:
odrv.system_stats.i2c.rx_cnt
error_cnt: uint32
read-only
Expanded Path:
odrv.system_stats.i2c.error_cnt
class ODrive.Can.Error
DUPLICATE_CAN_IDS = 1 (0x1)
BUS_OFF = 2 (0x2)
LOW_LEVEL = 4 (0x4)
PROTOCOL_INIT = 8 (0x8)
class ODrive.Can.Config
baud_rate: uint32
read-write

The baudrate of the CAN bus. Only compatible baudrates are accepted.

By default, this is set to the special value 0, which enables automatic baudrate detection.

Otherwise, if the baudrate is set explicitly:

  • The baudrate must be an integer divisor of 10M.

  • The baudrate must not exceed 1Mbps (limitation of CAN classic).

Supported baudrates are for example: 10k, 40k, 125k, 250k, 500k, 1M.

For CAN-FD frames, this is the baudrate of the arbitration phase while data_baud_rate is the baudrate of the data phase.

Changes take effect immediately.

Expanded Path:
odrv.can.config.baud_rate
data_baud_rate: uint32
read-writeexperimental

The baudrate of the data phase of CAN-FD messages.

This value is only relevant for:

  • incoming CAN-FD (as opposed to CAN Classic) messages that have the BRS (Bit Rate Switch) flag set.

  • outgoing CAN messages if tx_brs is set to True.

If both of these cases don’t occur in your application, you can ignore this parameter.

Only compatible baudrates are accepted.

  • The data baudrate must be an integer divisor of 10M.

  • The data baudrate must not exceed the hardware specs in the datasheet (Pro, S1, Micro).

Supported data baudrates are for example: 1M, 2.5M, 5M, 10M (ODrive Pro only).

Changes take effect immediately.

Expanded Path:
odrv.can.config.data_baud_rate
tx_brs: uint32
read-writeexperimental

If true, the ODrive sends all CAN messages as CAN-FD frames with the BRS (Bit Rate Switch) flag set and using data_baud_rate in the data phase. If false, CAN messages are sent as CAN Classic frames.

Changes take effect immediately.

Expanded Path:
odrv.can.config.tx_brs
protocol: Property[ODrive.Can.Protocol]
read-write

Specifies which protocol is running on the CAN interface. If no protocol is enabled, the CAN interface is disabled.

Changes take effect immediately.

Expanded Path:
odrv.can.config.protocol
class ODrive.Can.Protocol
SIMPLE = 1 (0x1)
class ODrive.Axis.Config
startup_max_wait_for_ready: [sec] - float32
read-write

Maximum time to wait for active_errors_ to go clear before trying to start any of the startup actions. Default 3 seconds.

Expanded Path:
odrv.axis0.config.startup_max_wait_for_ready
startup_motor_calibration: bool
read-write

Run motor calibration at startup, skip otherwise

Expanded Path:
odrv.axis0.config.startup_motor_calibration
read-write

Run encoder index search after startup, skip otherwise this only has an effect if commutation_mapper.config.use_index_gpio is also true

Expanded Path:
odrv.axis0.config.startup_encoder_index_search
startup_encoder_offset_calibration: bool
read-write

Run encoder offset calibration after startup, skip otherwise

Expanded Path:
odrv.axis0.config.startup_encoder_offset_calibration
startup_closed_loop_control: bool
read-write

Enable closed loop control after calibration/startup

Expanded Path:
odrv.axis0.config.startup_closed_loop_control
startup_homing: bool
read-write

Enable homing after calibration/startup

Expanded Path:
odrv.axis0.config.startup_homing
init_torque: [Nm] - float32
read-write

Initial torque setpoint (or feed-forward) that will be applied when axis is put into closed loop control

Expanded Path:
odrv.axis0.config.init_torque
init_vel: [rev/s] - float32
read-write

Initial velocity setpoint (or feed-forward) that will be applied when axis is put into closed loop control

Expanded Path:
odrv.axis0.config.init_vel
init_pos: [rev] - float32
read-write

Initial position setpoint that will be applied when axis is put into closed loop control. NaN to use current position estimate as initialization value of position setpoint.

Expanded Path:
odrv.axis0.config.init_pos
enable_step_dir: bool
read-write

Enable step/dir input after calibration. Make sure to set the corresponding GPIO’s mode to GpioMode.DIGITAL.

Expanded Path:
odrv.axis0.config.enable_step_dir
step_dir_always_on: bool
read-write

Keep step/dir enabled while the motor is disabled. This is ignored if enable_step_dir is false. This setting only takes effect on a state transition into idle or out of closed loop control.

Expanded Path:
odrv.axis0.config.step_dir_always_on
calib_range: float32
read-write

Maximum allowable error during AxisState.ENCODER_OFFSET_CALIBRATION

Any difference between estimated and actual encoder CPR/movement distance greater than calib_range * calib_scan_distance will trigger a POLE_PAIR_CPR_MISMATCH error.

calib_range is 0.02 (2%) by default. It is strongly recommended not to change this value.

Expanded Path:
odrv.axis0.config.calib_range
calib_scan_distance: [erev] - float32
read-write

Sets the distance the motor will move during AxisState.ENCODER_OFFSET_CALIBRATION

This value is specified in electrical revolutions, meaning that it must be divided by the number of motor pole pairs to get the distance in motor turns.

To reverse the scan direction, set calib_scan_vel and calib_scan_distance to a negative value.

Expanded Path:
odrv.axis0.config.calib_scan_distance
calib_scan_vel: [erev/s] - float32
read-write

Sets the velocity for AxisState.ENCODER_OFFSET_CALIBRATION

This value is specified with respect to electrical revolutions, meaning that it must be divided by the number of motor pole pairs to get the velocity with respect to motor turns.

To reverse the scan direction, set calib_scan_vel and calib_scan_distance to a negative value.

Expanded Path:
odrv.axis0.config.calib_scan_vel
index_search_at_target_vel_only: bool
read-write
Expanded Path:
odrv.axis0.config.index_search_at_target_vel_only
watchdog_timeout: [sec] - float32
read-write
Expanded Path:
odrv.axis0.config.watchdog_timeout
enable_watchdog: bool
read-write

Enables the watchdog for this axis.

When the watchdog expires (after config.watchdog_timeout), the axis is put into AxisState.IDLE. The watchdog can be reset by the function axis.watchdog_feed(), by certain UART commands (see ASCII Protocol) or by CAN messages (see Watchdog).

Expanded Path:
odrv.axis0.config.enable_watchdog
step_gpio_pin: uint16
read-write
Expanded Path:
odrv.axis0.config.step_gpio_pin
dir_gpio_pin: uint16
read-write
Expanded Path:
odrv.axis0.config.dir_gpio_pin
error_gpio_pin: uint16
read-write
Expanded Path:
odrv.axis0.config.error_gpio_pin
enable_error_gpio: bool
read-write
Expanded Path:
odrv.axis0.config.enable_error_gpio
calibration_lockin: ODrive.Axis.Config.CalibrationLockin

Open-loop lock-in parameters used for encoder offset calibration, hall calibration, and index search.

Expanded Path:
odrv.axis0.config.calibration_lockin
sensorless_ramp: ODrive.Axis.LockinConfig

Open-loop lock-in parameters used for sensorless ramp-up.

Expanded Path:
odrv.axis0.config.sensorless_ramp
general_lockin: ODrive.Axis.LockinConfig

Open-loop lock-in parameters used for LOCKIN_SPIN.

Expanded Path:
odrv.axis0.config.general_lockin
can: ODrive.Axis.CanConfig

All CAN configuration settings take effect immediately.

Expanded Path:
odrv.axis0.config.can
load_encoder: ODrive.EncoderId
read-write

Specifies which encoder will be used as the load encoder

The load encoder is what determines pos_estimate and by default also vel_estimate.

Changing the value of this property resets pos_vel_mapper.config.index_gpio, offset, offset_valid and scale.

Expanded Path:
odrv.axis0.config.load_encoder
commutation_encoder: ODrive.EncoderId
read-write

Specifies which encoder will be used as the commutation encoder

The commutation encoder is what determines how the magnetic field will be oriented in the motor.

Changing the value of this property resets all configuration in commutation_mapper.config.

Expanded Path:
odrv.axis0.config.commutation_encoder
encoder_bandwidth: [1/s] - float32
read-write

Bandwidth of the axis (primary) encoder state estimator

Sets the bandwidth of the load encoder estimator and by default also the commutation encoder estimator.

See also commutation_encoder_bandwidth.

Changes take effect immediately.

Expanded Path:
odrv.axis0.config.encoder_bandwidth
commutation_encoder_bandwidth: [1/s] - float32
read-write

Bandwidth of the commutation encoder state estimator

Sets the bandwidth of the commutation encoder.

If NAN or only one encoder is used (load_encoder and commutation_encoder are equal), this value is ignored and encoder_bandwidth is used to define the commutation estimator bandwidth.

Changes take effect immediately.

Expanded Path:
odrv.axis0.config.commutation_encoder_bandwidth
I_bus_hard_min: [Amp] - float32
read-write

If the controller fails to keep this motor’s DC current (axis.motor.alpha_beta_frame_controller.I_bus) above this value the motor gets disarmed immediately. Most likely you want a negative value here. Set to -inf to disable. Take noise into account when choosing a value.

Expanded Path:
odrv.axis0.config.I_bus_hard_min
I_bus_hard_max: [Amp] - float32
read-write

If the controller fails to keep this motor’s DC current (axis.motor.alpha_beta_frame_controller.I_bus) below this value the motor gets disarmed immediately. Usually this is set in conjunction with I_bus_hard_min. Set to inf to disable. Take noise into account when choosing a value.

Expanded Path:
odrv.axis0.config.I_bus_hard_max
I_bus_soft_min: [Amp] - float32
read-write

Negative limit of the DC current allowed to regenerate into the power supply (and brake resistor where applicable)

This limit is relevant while braking (as opposed to motoring). When this limit is reached, the ODrive reduces the torque with which it is braking to stay within the DC current limit.

Note: DC current is different from the motor current.

Must be negative. Set to -INFINITY to disable this limit. Changes take effect immediately.

See also: Active Power Limit.

Expanded Path:
odrv.axis0.config.I_bus_soft_min
I_bus_soft_max: [Amp] - float32
read-write

Positive limit of the DC current allowed to be pulled from the power supply

This limit is relevant while motoring (as opposed to braking). When this limit is reached, the ODrive reduces the torque with which it is motoring to stay within the DC current limit.

Note: DC current is different from the motor current.

Must be positive. Set to INFINITY to disable. Changes take effect immediately.

See also: Active Power Limit.

Expanded Path:
odrv.axis0.config.I_bus_soft_max
P_bus_soft_min: [W] - float32
read-write

Negative limit of the DC power allowed to regenerate into the power supply (and brake resistor where applicable)

This limit is relevant while braking (as opposed to motoring). When this limit is reached, the ODrive reduces the torque with which it is braking to stay within the DC power limit.

Must be negative. Set to -INFINITY to disable this limit. Changes take effect immediately.

See also: Active Power Limit.

Expanded Path:
odrv.axis0.config.P_bus_soft_min
P_bus_soft_max: [W] - float32
read-write

Positive limit of the DC power allowed to be pulled from the power supply

This limit is relevant while motoring (as opposed to braking). When this limit is reached, the ODrive reduces the torque with which it is motoring to stay within the DC power limit.

Must be positive. Set to INFINITY to disable. Changes take effect immediately.

See also: Active Power Limit.

Expanded Path:
odrv.axis0.config.P_bus_soft_max
torque_soft_min: [Nm] - float32
read-write

Minimum negative commanded torque allowed in the torque loop. This is usually a negative number.

Expanded Path:
odrv.axis0.config.torque_soft_min
torque_soft_max: [Nm] - float32
read-write

Maximum positive commanded torque allowed in the torque loop. If you set this, in all likelihood you also want to set torque_soft_min.

Expanded Path:
odrv.axis0.config.torque_soft_max
motor: ODrive.Axis.Config.Motor
Expanded Path:
odrv.axis0.config.motor
anticogging: ODrive.AnticoggingConfig
Expanded Path:
odrv.axis0.config.anticogging
off_axis_k: float32
read-write

Skew parameter for off-axis mounting of magnetic encoders.

When using magnetic encoders that are mounted off to the side of a magnet (off-axis), the angle reading gets skewed. This can be described with a parameter k, which can be determined using tools such as https://sensors.monolithicpower.com/.

By configuring off_axis_k, the ODrive can compensate for this effect.

A value of 1.0 (default) disables this compensation.

On dual encoders setups, this pertains to the load encoder only.

Expanded Path:
odrv.axis0.config.off_axis_k
off_axis_k_commutation: float32
read-write

Skew parameter for off-axis mounting of magnetic encoders.

See off_axis_k.

On single encoder setups, this parameter is ignored. On dual encoder setups, this pertains to the commutation encoder only.

Expanded Path:
odrv.axis0.config.off_axis_k_commutation
harmonic_compensation: ODrive.HarmonicCompensation

Calibration parameters and coefficients for harmonic compensation.

On dual encoder setups, this pertains to the load encoder only.

More info: Harmonic Compensation

Expanded Path:
odrv.axis0.config.harmonic_compensation
harmonic_compensation_commutation: ODrive.HarmonicCompensation

Calibration parameters and coefficients for harmonic compensation of the commutation encoder.

On single encoder setups, this parameter group is unused. On dual encoder setups, this pertains to the commutation encoder only.

More info: Harmonic Compensation

Expanded Path:
odrv.axis0.config.harmonic_compensation_commutation
class ODrive.Axis.TaskTimes
thermistor_update: ODrive.TaskTimer
Expanded Path:
odrv.axis0.task_times.thermistor_update
sensorless_estimator_update: ODrive.TaskTimer
Expanded Path:
odrv.axis0.task_times.sensorless_estimator_update
endstop_update: ODrive.TaskTimer
Expanded Path:
odrv.axis0.task_times.endstop_update
can_heartbeat: ODrive.TaskTimer
Expanded Path:
odrv.axis0.task_times.can_heartbeat
controller_update: ODrive.TaskTimer
Expanded Path:
odrv.axis0.task_times.controller_update
open_loop_vector_generator_update: ODrive.TaskTimer
Expanded Path:
odrv.axis0.task_times.open_loop_vector_generator_update
acim_estimator_update: ODrive.TaskTimer
Expanded Path:
odrv.axis0.task_times.acim_estimator_update
motor_update: ODrive.TaskTimer
Expanded Path:
odrv.axis0.task_times.motor_update
current_controller_update: ODrive.TaskTimer
Expanded Path:
odrv.axis0.task_times.current_controller_update
current_sense: ODrive.TaskTimer
Expanded Path:
odrv.axis0.task_times.current_sense
pwm_update: ODrive.TaskTimer
Expanded Path:
odrv.axis0.task_times.pwm_update
class ODrive.Axis.LockinConfig
initial_pos: [erev] - float32
read-write

Sets the electrical angle at which the lockin spin starts. In most cases this can be left at zero.

Expanded Paths:
odrv.axis0.config.general_lockin.initial_pos
odrv.axis0.config.sensorless_ramp.initial_pos
current: [Amp] - float32
read-write
Expanded Paths:
odrv.axis0.config.general_lockin.current
odrv.axis0.config.sensorless_ramp.current
ramp_time: [sec] - float32
read-write
Expanded Paths:
odrv.axis0.config.general_lockin.ramp_time
odrv.axis0.config.sensorless_ramp.ramp_time
ramp_distance: [erev] - float32
read-write
Expanded Paths:
odrv.axis0.config.general_lockin.ramp_distance
odrv.axis0.config.sensorless_ramp.ramp_distance
accel: [erev/s^2] - float32
read-write
Expanded Paths:
odrv.axis0.config.general_lockin.accel
odrv.axis0.config.sensorless_ramp.accel
vel: [erev/s] - float32
read-write
Expanded Paths:
odrv.axis0.config.general_lockin.vel
odrv.axis0.config.sensorless_ramp.vel
finish_distance: [erev] - float32
read-write
Expanded Paths:
odrv.axis0.config.general_lockin.finish_distance
odrv.axis0.config.sensorless_ramp.finish_distance
finish_on_vel: bool
read-write
Expanded Paths:
odrv.axis0.config.general_lockin.finish_on_vel
odrv.axis0.config.sensorless_ramp.finish_on_vel
finish_on_distance: bool
read-write
Expanded Paths:
odrv.axis0.config.general_lockin.finish_on_distance
odrv.axis0.config.sensorless_ramp.finish_on_distance
class ODrive.Axis.CanConfig
node_id: uint32
read-write

CAN node ID of the ODrive

See also: CAN Protocol Overview.

Allowed IDs are 0 … 63, where 63 (0x3f) serves as a special broadcast/unaddressed value. See Broadcast and Discovery & Addressing for details. Defaults to 0x3f.

Bit 31 of node_id specifies the ID type:

  • If bit 31 is 0, the ODrive listens for 11-bit standard message IDs.

  • If bit 31 is 1, the ODrive listens for 29-bit extended message IDs.

Changes to this config take effect immediately.

Expanded Path:
odrv.axis0.config.can.node_id
version_msg_rate_ms: uint32
read-write
Expanded Path:
odrv.axis0.config.can.version_msg_rate_ms
heartbeat_msg_rate_ms: uint32
read-write
Expanded Path:
odrv.axis0.config.can.heartbeat_msg_rate_ms
encoder_msg_rate_ms: uint32
read-write
Expanded Path:
odrv.axis0.config.can.encoder_msg_rate_ms
iq_msg_rate_ms: uint32
read-write
Expanded Path:
odrv.axis0.config.can.iq_msg_rate_ms
error_msg_rate_ms: uint32
read-write
Expanded Path:
odrv.axis0.config.can.error_msg_rate_ms
temperature_msg_rate_ms: uint32
read-write
Expanded Path:
odrv.axis0.config.can.temperature_msg_rate_ms
bus_voltage_msg_rate_ms: uint32
read-write
Expanded Path:
odrv.axis0.config.can.bus_voltage_msg_rate_ms
torques_msg_rate_ms: uint32
read-write
Expanded Path:
odrv.axis0.config.can.torques_msg_rate_ms
powers_msg_rate_ms: uint32
read-write
Expanded Path:
odrv.axis0.config.can.powers_msg_rate_ms
input_vel_scale: [counts/(rev/s)] - uint32
read-write

Scale of the Vel_FF field in Set_Input_Pos.

Defaults to 1000.

Expanded Path:
odrv.axis0.config.can.input_vel_scale
input_torque_scale: [counts/Nm] - uint32
read-write

Scale of the Torque_FF field in Set_Input_Pos.

Defaults to 1000.

Expanded Path:
odrv.axis0.config.can.input_torque_scale
class ODrive.Axis.AxisState
UNDEFINED = 0 (0x0)

will fall through to idle

IDLE = 1 (0x1)

Disable motor PWM and do nothing.

STARTUP_SEQUENCE = 2 (0x2)

Run the startup procedure.

the actual sequence is defined by the config.startup… flags

FULL_CALIBRATION_SEQUENCE = 3 (0x3)

Run all essential calibration procedures for the current ODrive configuration

For the most common configurations, this runs MOTOR_CALIBRATION followed by ENCODER_OFFSET_CALIBRATION.

General sequence:

  1. MOTOR_CALIBRATION, unless the motor type is MotorType.PMSM_VOLTAGE_CONTROL.

  2. If using hall encoders: ENCODER_HALL_POLARITY_CALIBRATION and then ENCODER_HALL_PHASE_CALIBRATION.

  3. If using an index signal: ENCODER_INDEX_SEARCH.

  4. If commutation encoder is not a hall encoder: ENCODER_OFFSET_CALIBRATION. If commutation encoder is a hall encoder: ENCODER_DIR_FIND.

MOTOR_CALIBRATION = 4 (0x4)

Measure phase resistance and phase inductance of the motor.

Turn the motor in one direction until the encoder index is traversed.

See Index Search for more information.

ENCODER_OFFSET_CALIBRATION = 7 (0x7)

Turn the motor in one direction for a few seconds and then back to measure the offset between the encoder position and the electrical phase.

Can only be entered if the motor is calibrated:

CLOSED_LOOP_CONTROL = 8 (0x8)

Run closed loop control.

  • The action depends on the controller.config.control_mode.

Can only be entered if the motor is calibrated:

LOCKIN_SPIN = 9 (0x9)

Run lockin spin.

Can only be entered if the motor is calibrated:

ENCODER_DIR_FIND = 10 (0xA)

Run encoder direction search.

Can only be entered if the motor is calibrated:

HOMING = 11 (0xB)

Run axis homing function.

Endstops must be enabled to use this feature.

ENCODER_HALL_POLARITY_CALIBRATION = 12 (0xC)

Rotate the motor in lockin and calibrate hall polarity

ODrive assumes 120 degree electrical hall spacing. This routine determines if that is the case and sets the polarity if the halls are on 60 degree electrical spacing

ENCODER_HALL_PHASE_CALIBRATION = 13 (0xD)

Rotate the motor for 30s to calibrate hall sensor edge offsets

The phase offset is not calibrated at this time, so the map is only relative

ANTICOGGING_CALIBRATION = 14 (0xE)

Calibrate the anticogging algorithm.

This spins the motor for a duration of calib_coarse_tuning_duration + calib_fine_tuning_duration + 1 seconds to learn the cogging map of the motor.

The previous cogging map is cleared as soon as a new anticogging calibration is started. If the calibration is cancelled or fails, the cogging map is left in a half-calibrated state.

To keep the cogging map across reboots, the configuration must be saved.

HARMONIC_CALIBRATION = 15 (0xF)
experimental

Calibrate harmonic compensation.

Spins the motor briefly to determine 1st and 2nd harmonic distortion coefficients of the encoder. If separate load and commutation encoders are used, this calibrates the load encoder only.

The calibration parameters can be changed in harmonic_compensation (calib_). The result, if successful, is assigned to harmonic_compensation (cosx_coef, sinx_coef, cos2x_coef, sin2x_coef).

More info: Harmonic Compensation

HARMONIC_CALIBRATION_COMMUTATION = 16 (0x10)
experimental

Calibrate harmonic compensation for commutation encoder.

Spins the motor briefly to determine 1st and 2nd harmonic distortion coefficients of the commutation encoder. This is only useful if separate load and commutation encoders are used. Otherwise, use HARMONIC_CALIBRATION.

The calibration parameters and calibration result are stored in harmonic_compensation_commutation.

More info: Harmonic Compensation

class ODrive.Axis.Config.CalibrationLockin
current: [Amp] - float32
read-write
Expanded Path:
odrv.axis0.config.calibration_lockin.current
ramp_time: float32
read-write

UNUSED

Expanded Path:
odrv.axis0.config.calibration_lockin.ramp_time
ramp_distance: float32
read-write

UNUSED

Expanded Path:
odrv.axis0.config.calibration_lockin.ramp_distance
accel: [erev/s^2] - float32
read-write
Expanded Path:
odrv.axis0.config.calibration_lockin.accel
vel: [erev/s] - float32
read-write

Overridden by calib_scan_vel during encoder offset calibration.

Expanded Path:
odrv.axis0.config.calibration_lockin.vel
class ODrive.Axis.Config.Motor
motor_type: ODrive.MotorType
read-write
Expanded Path:
odrv.axis0.config.motor.motor_type
pole_pairs: uint32
read-write

Number of magnet pole pairs in the motor’s rotor.

This is the number of magnet poles in the rotor, divided by two. This is not the same as the number of coils in the stator.

To find this, you can simply count the number of permanent magnets in the rotor, if you can see them.

Otherwise a good way to find the number of pole pairs is with a current limited power supply. Connect any two of the three phases to a power supply outputting around 2A, spin the motor by hand, and count the number of detents. This will be the number of pole pairs. If you can’t distinguish the detents from the normal cogging present when the motor is disconnected, increase the current.

Another way is sliding a loose magnet in your hand around the rotor, and counting how many times it stops. This will be the number of pole pairs. If you use a ferrous piece of metal instead of a magnet, you will get the number of magnet poles.

Expanded Path:
odrv.axis0.config.motor.pole_pairs
phase_resistance: [Ohm] - float32
read-write

Phase resistance of the motor.

Line-to-neutral resistance of one motor phase, assuming a wye-wound motor. Equivalent to the line-to-line resistance divided by two.

When using MotorType.PMSM_CURRENT_CONTROL, this is measured automatically during AxisState.MOTOR_CALIBRATION and used to derive the gains and feedforward terms for the current controller.

When using MotorType.PMSM_VOLTAGE_CONTROL, this must be set manually based on the motor’s datasheet or external measurements. In this case it is the main parameter that facilitates control of current and must be set accurately to ensure precise resulting current.

Expanded Path:
odrv.axis0.config.motor.phase_resistance
phase_inductance: [Henry] - float32
read-write

Phase inductance of the motor.

Line-to-neutral inductance of one motor phase, assuming a wye-wound motor. Equivalent to the line-to-line inductance divided by two.

Used to derive the gains and feedforward terms for the current controller.

When using MotorType.PMSM_CURRENT_CONTROL, this is measured automatically during AxisState.MOTOR_CALIBRATION.

When using MotorType.PMSM_VOLTAGE_CONTROL, this is optional and only used in certain configurations (see wL_FF_enable, dI_dt_FF_enable, fw_enable and motor_model_l_dq_valid). In this case it can be set manually based on the motor’s datasheet or external measurements.

Expanded Path:
odrv.axis0.config.motor.phase_inductance
phase_resistance_valid: bool
read-write

Indicates whether phase_resistance is valid. This flag is automatically set to true after successful motor calibration. It can also be set manually if phase_resistance is set manually. The motor will not spin unless this is true.

Expanded Path:
odrv.axis0.config.motor.phase_resistance_valid
phase_inductance_valid: bool
read-write

Indicates whether phase_inductance is valid. This flag is automatically set to true after successful motor calibration. It can also be set manually if phase_inductance is set manually. Depending on the configuration, the motor will not spin unless this is true (see phase_inductance for details).

Expanded Path:
odrv.axis0.config.motor.phase_inductance_valid
torque_constant: [Nm / A] - float32
read-write

Torque constant of the motor.

This is the ratio of torque produced by the motor per Amp of current delivered to the motor. This should be set to 8.27 / (motor KV).

If you decide that you would rather command torque in units of Amps, you could simply set the torque constant to 1.

if you are using position or velocity control and tuning the gains manually, then a ballpark value is sufficient, as error can be absorbed into the gain.

Expanded Path:
odrv.axis0.config.motor.torque_constant
direction: float32
read-write

Direction of the motor (+1 or -1) with respect to the axis position space. This affects the spin direction of calibration procedures.

Expanded Path:
odrv.axis0.config.motor.direction
current_control_bandwidth: [1/s] - float32
read-write

Sets the PI gains of the Q and D axis FOC control according to phase_resistance and phase_inductance to create a critically-damped controller with a -3dB bandwidth at this frequency.

Expanded Path:
odrv.axis0.config.motor.current_control_bandwidth
wL_FF_enable: bool
read-write

Enables automatic feedforward of the R and omega*L term in the current controller.

Expanded Path:
odrv.axis0.config.motor.wL_FF_enable
bEMF_FF_enable: bool
read-write

Enables automatic feedforward of the bEMF term in the current controller.

Expanded Path:
odrv.axis0.config.motor.bEMF_FF_enable
dI_dt_FF_enable: bool
read-write

Enables automatic feedforward of the dI/dt term in the current controller.

Expanded Path:
odrv.axis0.config.motor.dI_dt_FF_enable
ff_pm_flux_linkage: float32
read-write

Flux linkage of the motor, used by the motor model.

Commonly called “lambda” in literature.

By default the back-EMF feedforward term assumes a flux linkage of: flux_linkage = 2/3 * torque_constant / pole_pairs which is equivalent to flux_linkage = 5.51328895422 / (pole_pairs * motor_kv)

This default can be overriden by specifying this parametter and setting (ff_pm_flux_linkage_valid = True).

Expanded Path:
odrv.axis0.config.motor.ff_pm_flux_linkage
ff_pm_flux_linkage_valid: bool
read-write
Expanded Path:
odrv.axis0.config.motor.ff_pm_flux_linkage_valid
motor_model_l_d: [Henry] - float32
read-write

d-axis phase inductance of the motor, used by the motor model

If specified (motor_model_l_dq_valid = True), overrides the d-axis phase inductance used by the motor model (feedforward and field weakening). This does not affect the current controller gains. If left empty (motor_model_l_dq_valid = False) phase_inductance is used instead.

Expanded Path:
odrv.axis0.config.motor.motor_model_l_d
motor_model_l_q: [Henry] - float32
read-write

q-axis phase inductance of the motor, used by the motor model

If specified (motor_model_l_dq_valid = True), overrides the q-axis phase inductance used by the motor model (feedforward and field weakening). This does not affect the current controller gains. If left empty (motor_model_l_dq_valid = False) phase_inductance is used instead.

Expanded Path:
odrv.axis0.config.motor.motor_model_l_q
motor_model_l_dq_valid: bool
read-write

If true, the motor model uses motor_model_l_d and motor_model_l_q for feedforward terms and field weakening. If false, phase_inductance is used instead.

Expanded Path:
odrv.axis0.config.motor.motor_model_l_dq_valid
calibration_current: float32
read-write

The current used to measure resistance during AxisState.MOTOR_CALIBRATION.

Expanded Path:
odrv.axis0.config.motor.calibration_current
resistance_calib_max_voltage: float32
read-write

The maximum voltage allowed during AxisState.MOTOR_CALIBRATION.

This should be set to less than (0.5 * vbus_voltage), but high enough to satisfy V=IR during motor calibration, where I is config.calibration_current and R is config.phase_resistance

Expanded Path:
odrv.axis0.config.motor.resistance_calib_max_voltage
current_soft_max: [Amp] - float32
read-write

Maximum commanded current allowed for this motor. There is a separate limit current_soft_max that pertains to the ODrive’s power stage.

Expanded Path:
odrv.axis0.config.motor.current_soft_max
current_hard_max: [Amp] - float32
read-write

Maximum measured current allowed. Any measurement above current_hard_max will throw a CURRENT_LIMIT_VIOLATION error. Changing this variable can lead to reconfiguration of low level hardware at the next opportunity (when the axis is in IDLE). This will incur a 0.7s delay until the axis can be activated again. There is a separate limit current_hard_max that pertains to the ODrive’s power stage.

Expanded Path:
odrv.axis0.config.motor.current_hard_max
current_slew_rate_limit: [Amp/s] - float32
read-write

Maximum slew rate for the current setpoint.

Must be strictly positive.

Expanded Path:
odrv.axis0.config.motor.current_slew_rate_limit
fw_enable: bool
read-write
Expanded Path:
odrv.axis0.config.motor.fw_enable
fw_mod_setpoint: float32
read-write
Expanded Path:
odrv.axis0.config.motor.fw_mod_setpoint
fw_fb_bandwidth: float32
read-write
Expanded Path:
odrv.axis0.config.motor.fw_fb_bandwidth
acim_gain_min_flux: float32
read-write
Expanded Path:
odrv.axis0.config.motor.acim_gain_min_flux
acim_autoflux_enable: bool
read-write
Expanded Path:
odrv.axis0.config.motor.acim_autoflux_enable
acim_autoflux_min_Id: float32
read-write
Expanded Path:
odrv.axis0.config.motor.acim_autoflux_min_Id
acim_autoflux_attack_gain: float32
read-write
Expanded Path:
odrv.axis0.config.motor.acim_autoflux_attack_gain
acim_autoflux_decay_gain: float32
read-write
Expanded Path:
odrv.axis0.config.motor.acim_autoflux_decay_gain
acim_nominal_slip_vel: [Hz] - float32
read-write

1/(2*pi*rotor_tau), where rotor_tau is time constant of the rotor (L_r/R_r)

Expanded Path:
odrv.axis0.config.motor.acim_nominal_slip_vel
sensorless_observer_gain: [1/s] - float32
read-write
Expanded Path:
odrv.axis0.config.motor.sensorless_observer_gain
sensorless_pll_bandwidth: [1/s] - float32
read-write
Expanded Path:
odrv.axis0.config.motor.sensorless_pll_bandwidth
sensorless_pm_flux_linkage: float32
read-write

Flux linkage of the motor, used by the sensorless estimator.

By default the sensorless estimator derives the motor flux linkage as: flux_linkage = 2/3 * torque_constant / pole_pairs which is equivalent to flux_linkage = 5.51328895422 / (pole_pairs * motor_kv)

This default can be overriden by specifying this parameter and setting (sensorless_pm_flux_linkage_valid = True).

Expanded Path:
odrv.axis0.config.motor.sensorless_pm_flux_linkage
sensorless_pm_flux_linkage_valid: bool
read-write
Expanded Path:
odrv.axis0.config.motor.sensorless_pm_flux_linkage_valid
power_torque_report_filter_bandwidth: float32
read-write

Filter bandwidth for reported torque and power estimates

Torque and power estimates can be filtered so they can be sampled at a lower rate.

This applies to torque_estimate, mechanical_power, electrical_power and loss_power.

Set to control_loop_hz (default) to disable the filter.

Expanded Path:
odrv.axis0.config.motor.power_torque_report_filter_bandwidth
class ODrive.Motor.DcCalib
a_0: float32
read-write
Expanded Path:
odrv.axis0.motor.dc_calib.a_0
b_0: float32
read-write
Expanded Path:
odrv.axis0.motor.dc_calib.b_0
c_0: float32
read-write
Expanded Path:
odrv.axis0.motor.dc_calib.c_0
a_1: float32
read-write
Expanded Path:
odrv.axis0.motor.dc_calib.a_1
b_1: float32
read-write
Expanded Path:
odrv.axis0.motor.dc_calib.b_1
c_1: float32
read-write
Expanded Path:
odrv.axis0.motor.dc_calib.c_1
a_2: float32
read-write
Expanded Path:
odrv.axis0.motor.dc_calib.a_2
b_2: float32
read-write
Expanded Path:
odrv.axis0.motor.dc_calib.b_2
c_2: float32
read-write
Expanded Path:
odrv.axis0.motor.dc_calib.c_2
class ODrive.Mapper.Config
circular: bool
read-write
Expanded Paths:
odrv.axis0.commutation_mapper.config.circular
odrv.axis0.pos_vel_mapper.config.circular
circular_output_range: float32
read-write
Expanded Paths:
odrv.axis0.commutation_mapper.config.circular_output_range
odrv.axis0.pos_vel_mapper.config.circular_output_range
scale: float32
read-write
Expanded Paths:
odrv.axis0.commutation_mapper.config.scale
odrv.axis0.pos_vel_mapper.config.scale
offset_valid: bool
read-write
Expanded Paths:
odrv.axis0.commutation_mapper.config.offset_valid
odrv.axis0.pos_vel_mapper.config.offset_valid
offset: float32
read-write
Expanded Paths:
odrv.axis0.commutation_mapper.config.offset
odrv.axis0.pos_vel_mapper.config.offset
approx_init_pos_valid: bool
read-write

Forces pos_abs to initialize to approx_init_pos +- scale/2 on every startup.

By setting this to true, the user promises that the axis will always start up within +-0.5 encoder turns of approx_init_pos, in terms of the user’s reference frame. This can be used on axes that have a mechanically limited range of less than 360° or in other situations where the user can guarantee bounds on the startup position.

If absolute linear setpoints are used with an absolute encoder, this allows the axis to disambiguate its turn count on startup and thereby eliminates the need for homing.

Note that the +-0.5 turns tolerance refers to input space (encoder space), not user space.

Expanded Paths:
odrv.axis0.commutation_mapper.config.approx_init_pos_valid
odrv.axis0.pos_vel_mapper.config.approx_init_pos_valid
approx_init_pos: float32
read-write

The guaranteed approximate startup position (in the user reference frame). See approx_init_pos_valid for details.

Expanded Paths:
odrv.axis0.commutation_mapper.config.approx_init_pos
odrv.axis0.pos_vel_mapper.config.approx_init_pos
index_offset_valid: bool
read-write
Expanded Paths:
odrv.axis0.commutation_mapper.config.index_offset_valid
odrv.axis0.pos_vel_mapper.config.index_offset_valid
index_offset: float32
read-write
Expanded Paths:
odrv.axis0.commutation_mapper.config.index_offset
odrv.axis0.pos_vel_mapper.config.index_offset
use_index_gpio: bool
read-write
Expanded Paths:
odrv.axis0.commutation_mapper.config.use_index_gpio
odrv.axis0.pos_vel_mapper.config.use_index_gpio
read-write

Listen for index pulses even when not explicitly running index search and even when the motor is disarmed. In case the index pulse is fairly wide (low resolution encoders or hall effect sensors), care must be taken as to which direction the motor is spun to register the index. Once the index is found (either by manually moving the motor or by running ENCODER_INDEX_SEARCH), the search is disabled.

Requires a reboot to take effect.

Expanded Paths:
odrv.axis0.commutation_mapper.config.passive_index_search
odrv.axis0.pos_vel_mapper.config.passive_index_search
index_gpio: uint8
read-write
Expanded Paths:
odrv.axis0.commutation_mapper.config.index_gpio
odrv.axis0.pos_vel_mapper.config.index_gpio
use_endstop: bool
read-write
Expanded Paths:
odrv.axis0.commutation_mapper.config.use_endstop
odrv.axis0.pos_vel_mapper.config.use_endstop
class ODrive.Rs485Encoder.Config
mode: ODrive.Rs485EncoderMode
read-write

Changes take effect when in IDLE

Expanded Paths:
odrv.rs485_encoder_group0.config.mode
odrv.rs485_encoder_group1.config.mode
class ODrive.IncrementalEncoder.Config
enabled: bool
read-write

Enables or disables this encoder input

To use this encoder input for control, it must additionally be assigned to load_encoder and/or commutation_encoder.

Changes take effect when axis is in IDLE.

Expanded Paths:
odrv.inc_encoder0.config.enabled
odrv.inc_encoder1.config.enabled
filter: ODrive.IncrementalEncoderFilter
read-write

Configures the input filter on the A/B inputs

The default setting of 10M is appropriate for most applications. If you have very high speed or high CPR encoder, you may need to increase the filter speed. This may slightly increase susceptibility to EMI.

Changes take effect when axis is in IDLE.

Expanded Paths:
odrv.inc_encoder0.config.filter
odrv.inc_encoder1.config.filter
cpr: uint32
read-write

Counts per revolution of the encoder

This is 4x the Pulse Per Revolution (PPR) value. Usually this is indicated in the datasheet of your encoder.

Changes take effect when axis is in IDLE.

Expanded Paths:
odrv.inc_encoder0.config.cpr
odrv.inc_encoder1.config.cpr
class ODrive.HallEncoder.Config
enabled: bool
read-write
Expanded Paths:
odrv.hall_encoder0.config.enabled
odrv.hall_encoder1.config.enabled
hall_polarity: uint8
read-write
Expanded Paths:
odrv.hall_encoder0.config.hall_polarity
odrv.hall_encoder1.config.hall_polarity
hall_polarity_calibrated: bool
read-write
Expanded Paths:
odrv.hall_encoder0.config.hall_polarity_calibrated
odrv.hall_encoder1.config.hall_polarity_calibrated
ignore_illegal_hall_state: bool
read-write
Expanded Paths:
odrv.hall_encoder0.config.ignore_illegal_hall_state
odrv.hall_encoder1.config.ignore_illegal_hall_state
edges_calibrated: bool
read-write
Expanded Paths:
odrv.hall_encoder0.config.edges_calibrated
odrv.hall_encoder1.config.edges_calibrated
edge0: float32
read-write
Expanded Paths:
odrv.hall_encoder0.config.edge0
odrv.hall_encoder1.config.edge0
edge1: float32
read-write
Expanded Paths:
odrv.hall_encoder0.config.edge1
odrv.hall_encoder1.config.edge1
edge2: float32
read-write
Expanded Paths:
odrv.hall_encoder0.config.edge2
odrv.hall_encoder1.config.edge2
edge3: float32
read-write
Expanded Paths:
odrv.hall_encoder0.config.edge3
odrv.hall_encoder1.config.edge3
edge4: float32
read-write
Expanded Paths:
odrv.hall_encoder0.config.edge4
odrv.hall_encoder1.config.edge4
edge5: float32
read-write
Expanded Paths:
odrv.hall_encoder0.config.edge5
odrv.hall_encoder1.config.edge5
class ODrive.SpiEncoder.Config
ncs_gpio: uint8
read-write
Expanded Paths:
odrv.spi_encoder0.config.ncs_gpio
odrv.spi_encoder1.config.ncs_gpio
mode: ODrive.SpiEncoderMode
read-write
Expanded Paths:
odrv.spi_encoder0.config.mode
odrv.spi_encoder1.config.mode
delay: [sec] - float32
read-write

Delay of the position reading of the encoder. The position reading is forward-projected based on the velocity estimate and this value.

Expanded Paths:
odrv.spi_encoder0.config.delay
odrv.spi_encoder1.config.delay
max_error_rate: float32
read-write

Maximum packet error rate

Increasing this value allows the motor to continue operating even if some SPI responses are corrupted (e.g. error bit, bad parity/CRC). However it also leads to slower reaction in case the encoder is disconnected.

0.005 (0.5%) by default, low-pass filtered with a 160ms time constant.

Expanded Paths:
odrv.spi_encoder0.config.max_error_rate
odrv.spi_encoder1.config.max_error_rate
baudrate: [Hz] - uint32
read-writeexperimental

Maximum SCLK frequency

The actual selected baudrate will usually be lower than this and depend on the nearest clock prescaler setting.

It is recommended to leave this value at its default.

Setting this value too low can lead to missed control deadline errors because the transfer takes too long. Setting this value too high can lead to bad signal integrity, especially on long wires with high capacitance.

Requires a reboot to take effect.

Expanded Paths:
odrv.spi_encoder0.config.baudrate
odrv.spi_encoder1.config.baudrate
biss_c_bits: uint8
read-writeexperimental

Number of bits in singleturn section of BiSS-C packet

Expanded Paths:
odrv.spi_encoder0.config.biss_c_bits
odrv.spi_encoder1.config.biss_c_bits
biss_c_multiturn_bits: uint8
read-writeexperimental

Number of bits in multiturn section of BiSS-C packet

The multiturn count is currently not used by the ODrive. However it must still be configured because it influences the packet format.

Expanded Paths:
odrv.spi_encoder0.config.biss_c_multiturn_bits
odrv.spi_encoder1.config.biss_c_multiturn_bits
class ODrive.Interpolator.Config
dynamic: bool
read-write
Expanded Path:
odrv.axis0.interpolator.config.dynamic
class ODrive.BuiltinThermalCurrentLimiter.Config
temp_limit_lower: [Celcius] - float32
read-write

The lower limit when the controller starts limiting current.

temp_limit_upper: [Celcius] - float32
read-write

The upper limit when current limit reaches 0 Amps and an over temperature error is triggered.

class ODrive.OffboardThermistorCurrentLimiter.Config
gpio_pin: uint16
read-write

GPIO on which the thermistor is connected.

By default, this points to the GPIO that is designated “THERMISTOR+” in the pinout.

The special value 0x0100 (256) is used to refer to the OA1’s dedicated thermistor port. In this case, rs485_encoder_group0.config.mode must be set to ODRIVE_OA1, otherwise the temperature will read as NAN and the thermistor treated as disconnected.

Expanded Path:
odrv.axis0.motor.motor_thermistor.config.gpio_pin
mode: ODrive.ThermistorMode
read-write

Thermistor type

Default: NTC. For more info see Motor Thermistor Configuration.

Expanded Path:
odrv.axis0.motor.motor_thermistor.config.mode
r_ref: [Ohm] - float32
read-write

Resistance of the thermistor at the reference temperature. Usually denoted R_25 in the thermistor’s datasheet.

Only used when mode is ThermistorMode.NTC or ThermistorMode.QUADRATIC.

Expanded Path:
odrv.axis0.motor.motor_thermistor.config.r_ref
t_ref: [Celcius] - float32
read-write

Reference temperature corresponding to r_ref, in °C. Usually this is equal to 25°C and denoted T_25 in the thermistor’s datasheet.

Only used when mode is ThermistorMode.NTC.

Expanded Path:
odrv.axis0.motor.motor_thermistor.config.t_ref
beta: [Kelvin] - float32
read-write

Beta (or B) value of the thermistor. Can be found in the thermistor’s datasheet. Only used when mode is ThermistorMode.NTC.

Expanded Path:
odrv.axis0.motor.motor_thermistor.config.beta
a: float32
read-write

Linear coefficient for ThermistorMode.QUADRATIC

Not used in any other thermistor mode.

Expanded Path:
odrv.axis0.motor.motor_thermistor.config.a
b: float32
read-write

Quadratic coefficient for ThermistorMode.QUADRATIC

Not used in any other thermistor mode.

Expanded Path:
odrv.axis0.motor.motor_thermistor.config.b
temp_limit_lower: [Celcius] - float32
read-write

The lower limit when the controller starts limiting current.

Expanded Path:
odrv.axis0.motor.motor_thermistor.config.temp_limit_lower
temp_limit_upper: [Celcius] - float32
read-write

The upper limit when current limit reaches 0 Amps and an over temperature error is triggered.

Expanded Path:
odrv.axis0.motor.motor_thermistor.config.temp_limit_upper
enabled: bool
read-write

Whether this thermistor is enabled.

Expanded Path:
odrv.axis0.motor.motor_thermistor.config.enabled
class ODrive.Controller.Config
enable_vel_limit: bool
read-write
Expanded Path:
odrv.axis0.controller.config.enable_vel_limit
enable_torque_mode_vel_limit: bool
read-write

Enable velocity limit in torque control mode (requires a valid velocity estimator).

Expanded Path:
odrv.axis0.controller.config.enable_torque_mode_vel_limit
enable_gain_scheduling: bool
read-write

Enable the experimental “gain scheduling” module, which reduces the pos_gain, vel_gain, and vel_integrator_gain according to the position error. Also known as “anti-hunt”

Expanded Path:
odrv.axis0.controller.config.enable_gain_scheduling
gain_scheduling_width: [turn] - float32
read-write

Distance over which the gain scheduling operates.

Expanded Path:
odrv.axis0.controller.config.gain_scheduling_width
enable_overspeed_error: bool
read-write

Enables the velocity controller’s overspeed error

Expanded Path:
odrv.axis0.controller.config.enable_overspeed_error
control_mode: ODrive.Controller.ControlMode
read-write
Expanded Path:
odrv.axis0.controller.config.control_mode
input_mode: ODrive.Controller.InputMode
read-write
Expanded Path:
odrv.axis0.controller.config.input_mode
pos_gain: [(rev/s) / rev] - float32
read-write
Expanded Path:
odrv.axis0.controller.config.pos_gain
vel_gain: [Nm / (rev/s)] - float32
read-write
Expanded Path:
odrv.axis0.controller.config.vel_gain
vel_integrator_gain: [(Nm/s) / (rev/s)] - float32
read-write
Expanded Path:
odrv.axis0.controller.config.vel_integrator_gain
vel_integrator_limit: [Nm] - float32
read-write

Limit the integrator output (independent of proportional gain output). Set to infinity to disable.

Expanded Path:
odrv.axis0.controller.config.vel_integrator_limit
vel_limit: [rev/s] - float32
read-write

Infinity to disable.

Expanded Path:
odrv.axis0.controller.config.vel_limit
vel_limit_tolerance: float32
read-write

Ratio to vel_limit. Infinity to disable. Must be larger than 1.

Expanded Path:
odrv.axis0.controller.config.vel_limit_tolerance
vel_ramp_rate: [rev/s^2] - float32
read-write
Expanded Path:
odrv.axis0.controller.config.vel_ramp_rate
torque_ramp_rate: [Nm/s] - float32
read-write
Expanded Path:
odrv.axis0.controller.config.torque_ramp_rate
circular_setpoints: bool
read-write
Expanded Path:
odrv.axis0.controller.config.circular_setpoints
circular_setpoint_range: float32
read-write

circular range in [turns] for position setpoints when circular_setpoints is True

Expanded Path:
odrv.axis0.controller.config.circular_setpoint_range
absolute_setpoints: bool
read-write

False: Position setpoints are relative to the startup position.

True: Position setpoints are with respect to an absolute reference frame of some sort. See Position Reference Frame for available options. Attempts to enter position control will be rejected until the reference frame has been initialized (e.g. by completing a homing procedure).

Changes take effect immediately. The position setpoint is shifted when changing this value, to avoid unexpected axis motion.

Expanded Path:
odrv.axis0.controller.config.absolute_setpoints
use_commutation_vel: bool
read-writeexperimental

When using two separate encoders for position control and commutation, this selects which of the two encoders is used for velocity control. If false, the position encoder is used, else the commutation encoder is used. commutation_vel_scale must be set accordingly.

Expanded Path:
odrv.axis0.controller.config.use_commutation_vel
use_load_encoder_for_commutation_vel: bool
read-writeexperimental

When using two separate encoders for position control and commutation, this selects which of the two encoders is used for commutation (i.e. for estimating the phase velocity).

  • False (default): The commutation velocity is based on the commutation encoder.

  • True: The commutation velocity is based on the load encoder. commutation_vel_scale must be set accordingly.

Not supported in sensorless mode.

Expanded Path:
odrv.axis0.controller.config.use_load_encoder_for_commutation_vel
commutation_vel_scale: float32
read-writeexperimental

Defines the scale between load encoder and commutation encoder. Must be configured if use_commutation_vel or use_load_encoder_for_commutation_vel is true.

If the position encoder is mounted after a gearbox with a reduction ratio N:1, this variable must be set to 1/(pole_pairs*N) (positive or negative, depending on the setup).

Expanded Path:
odrv.axis0.controller.config.commutation_vel_scale
steps_per_circular_range: int32
read-write

Number of steps within the circular setpoint range. Set this and the circular setpoint range to powers of 2 for the best results.

Expanded Path:
odrv.axis0.controller.config.steps_per_circular_range
homing_speed: [rev/s] - float32
read-write

The speed at which the axis moves towards the min_endstop during AxisState.HOMING

Expanded Path:
odrv.axis0.controller.config.homing_speed
inertia: [Nm / (rev/s^2)] - float32
read-write
Expanded Path:
odrv.axis0.controller.config.inertia
input_filter_bandwidth: [1/s] - float32
read-write

The desired bandwidth for InputMode.POS_FILTER.

Sets the position filter’s P and I gains to emulate a critically-damped 2nd order mass-spring-damper motion.

Expanded Path:
odrv.axis0.controller.config.input_filter_bandwidth
spinout_mechanical_power_bandwidth: [1/s] - float32
read-write

Bandwidth for mechanical power estimate. Used for spinout detection

Expanded Path:
odrv.axis0.controller.config.spinout_mechanical_power_bandwidth
spinout_electrical_power_bandwidth: [1/s] - float32
read-write

Bandwidth for electrical power estimate. Used for spinout detection. Dot product of Vdq and Idq

Expanded Path:
odrv.axis0.controller.config.spinout_electrical_power_bandwidth
spinout_mechanical_power_threshold: [Watt] - float32
read-write

Mechanical power threshold for spinout detection. This should be a negative value

Expanded Path:
odrv.axis0.controller.config.spinout_mechanical_power_threshold
spinout_electrical_power_threshold: [Watt] - float32
read-write

Electrical power threshold for spinout detection. This should be a positive value

Expanded Path:
odrv.axis0.controller.config.spinout_electrical_power_threshold
class ODrive.Controller.Autotuning
frequency: [Hz] - float32
read-write
Expanded Path:
odrv.axis0.controller.autotuning.frequency
pos_amplitude: [rev] - float32
read-write
Expanded Path:
odrv.axis0.controller.autotuning.pos_amplitude
vel_amplitude: [rev/s] - float32
read-write
Expanded Path:
odrv.axis0.controller.autotuning.vel_amplitude
torque_amplitude: [Nm] - float32
read-write
Expanded Path:
odrv.axis0.controller.autotuning.torque_amplitude
vel_burst_factor: uint8
read-write
Expanded Path:
odrv.axis0.controller.autotuning.vel_burst_factor
class ODrive.Controller.ControlMode
VOLTAGE_CONTROL = 0 (0x0)

Note: This mode is not used internally. For voltage-only FOC, use MotorType.PMSM_VOLTAGE_CONTROL

TORQUE_CONTROL = 1 (0x1)

Uses only the inner torque control loop. Use input_torque to command desired torque. Note the setting config.motor.torque_constant. Note the setting enable_torque_mode_vel_limit.

VELOCITY_CONTROL = 2 (0x2)

Uses both the inner torque control loop and the velocity control loop. Use input_vel to command desired velocity, and input_torque.

POSITION_CONTROL = 3 (0x3)

Uses the inner torque loop, the velocity control loop, and the outer position control loop. Use input_pos to command desired position, input_vel to command velocity feed-forward, and input_torque for torque feed-forward.

class ODrive.Controller.InputMode
INACTIVE = 0 (0x0)

Disable inputs. Setpoints retain their last value.

PASSTHROUGH = 1 (0x1)

Pass input_xxx through to xxx_setpoint directly.

Valid Inputs

Valid Control Modes

VEL_RAMP = 2 (0x2)

Ramps a velocity command from the current value to the target value.

Configuration Values

Valid Inputs

Valid Control Modes

POS_FILTER = 3 (0x3)

Implements a 2nd order position tracking filter.

Intended for use with step/dir interface, but can also be used with position-only commands.

Trapezoidal Planner Response

Result of a step command from 1000 to 0

Configuration Values

Valid Inputs

Valid Control Modes

MIX_CHANNELS = 4 (0x4)

Not Implemented.

TRAP_TRAJ = 5 (0x5)

Implementes an online trapezoidal trajectory planner.

Trapezoidal Planner Response

Configuration Values

Valid Inputs

Valid Control Modes

TORQUE_RAMP = 6 (0x6)

Ramp a torque command from the current value to the target value.

Configuration Values

Valid Inputs

Valid Control Modes

MIRROR = 7 (0x7)

Implements “electronic mirroring”.

not supported on ODrive Pro/S1

This is like electronic camming, but you can only mirror exactly the movements of the other motor, according to a fixed ratio.

See also: https://www.youtube.com/watch?v=D4_vBtyVVzM

Configuration Values

  • config.axis_to_mirror

  • config.mirror_ratio

Valid Inputs

  • None. Inputs are taken directly from the other axis encoder estimates

Valid Control Modes

TUNING = 8 (0x8)

Implements a tuning mode

Used for tuning your odrive, this mode allows the user to set different frequencies. Set control_mode for the loop you want to tune, then set the frequency desired. The ODrive will send a 1 turn amplitude sine wave to the controller with the given frequency and phase.

class ODrive.TrapezoidalTrajectory.Config
vel_limit: [rev/s] - float32
read-write
Expanded Path:
odrv.axis0.trap_traj.config.vel_limit
accel_limit: [rev/s^2] - float32
read-write
Expanded Path:
odrv.axis0.trap_traj.config.accel_limit
decel_limit: [rev/s^2] - float32
read-write
Expanded Path:
odrv.axis0.trap_traj.config.decel_limit
class ODrive.SwitchInput.Config
gpio_num: uint16
read-write

The GPIO pin number, as labeled in the “Logic Pins” section of your ODrive’s datasheet.

The corresponding pin must be set to GpioMode.DIGITAL, GpioMode.DIGITAL_PULL_UP, or GpioMode.DIGITAL_PULL_DOWN.

The GPIO pin you use must support input mode. Make sure to check the “GPIO Properties” section of your ODrive’s datasheet.

Expanded Paths:
odrv.axis0.enable_pin.config.gpio_num
odrv.axis0.max_endstop.config.gpio_num
odrv.axis0.min_endstop.config.gpio_num
enabled: bool
read-write

Enables/disables a switch (or endstop) input. If disabled, any input on this switch or endstop will be ignored.

Expanded Paths:
odrv.axis0.enable_pin.config.enabled
odrv.axis0.max_endstop.config.enabled
odrv.axis0.min_endstop.config.enabled
offset: [rev] - float32
read-write

Position of the endstop relative to the zero position of the axis.

Upon successfully completing homing, the axis absolute position will be set to offset. Only used for endstops.

Expanded Paths:
odrv.axis0.enable_pin.config.offset
odrv.axis0.max_endstop.config.offset
odrv.axis0.min_endstop.config.offset
is_active_high: bool
read-write

The polarity of the switch. True if the switch or endstop being pressed/activated results in a logic high, False otherwise.

Flipping this configuration is not considered as an edge. (e.g. flipping enable_pin.config.is_active_high does not lead to the ODrive inadvertently being enabled.)

Expanded Paths:
odrv.axis0.enable_pin.config.is_active_high
odrv.axis0.max_endstop.config.is_active_high
odrv.axis0.min_endstop.config.is_active_high
debounce_ms: [ms] - uint32
read-write

Ignore high/low inputs that last less than this duration.

When mechanical switches are activated, the output can fluctate for a few milliseconds. The ODrive will only accept the level change when the new level has been applied for longer than debounce_ms.

Expanded Paths:
odrv.axis0.enable_pin.config.debounce_ms
odrv.axis0.max_endstop.config.debounce_ms
odrv.axis0.min_endstop.config.debounce_ms
class ODrive.MechanicalBrake.Config
gpio_num: uint16
read-write
Expanded Path:
odrv.axis0.mechanical_brake.config.gpio_num
is_active_low: bool
read-write
Expanded Path:
odrv.axis0.mechanical_brake.config.is_active_low