ODrive Comparison Table
Below is an comparison of common hardware specifications and features across the products in the ODrive lineup. Please note the ODrive v3.6 is approaching its end of life, and strongly recommended against for new and existing designs. We recommend the ODrive S1 as a single-axis replacement for the ODrive v3.6, providing a near direct superset of features and capabilities.
Electrical Specifications
ODrive Pro |
ODrive S1 |
ODrive Micro |
ODrive v3.6 (NRND) |
|
|---|---|---|---|---|
Axis Count |
1 |
1 |
1 |
2 |
Recommended Max Voltage |
58V |
50.5V |
28V |
48V |
Current (Nominal/Peak) |
70A / 120A [1] |
40A / 80A [2] |
3.5A / 7A |
40A / 120A |
Continuous Power/axis |
4kW |
2kW |
100W |
2kW |
Maximum Modulation Depth [3] |
99% |
78% |
78% |
70% |
Feedback Interfaces
ODrive Pro |
ODrive S1 |
ODrive Micro |
ODrive v3.6 (NRND) |
|
|---|---|---|---|---|
Onboard Encoder |
✓ |
✓ |
✓ |
X |
Quadrature Encoder |
✓ |
✓ |
✓ |
✓ |
Hall Sensors |
✓ |
✓ |
✓ |
✓ |
RS485 Encoder |
✓ |
✓ |
X |
X |
SPI Encoder |
✓ |
✓ |
✓ [4] |
✓ |
Differential SSI Encoder |
✓ |
X |
X |
X |
BiSS-C Encoder |
✓ |
X |
X |
X |
Control Interfaces
ODrive Pro |
ODrive S1 |
ODrive Micro |
ODrive v3.6 (NRND) |
|
|---|---|---|---|---|
USB |
✓ |
✓ |
✓ |
✓ |
CAN |
✓ |
✓ |
✓ |
✓ |
CAN-FD [5] |
✓ |
✓ |
✓ |
X |
UART |
✓ |
✓ |
X |
✓ |
Analog Input |
✓ |
✓ |
X |
✓ |
PWM Input |
✓ |
✓ |
X |
✓ |
STEP/DIR |
✓ |
✓ |
X |
✓ |
ERROR/ENABLE Pins |
✓ |
✓ |
X |
X |
Features
ODrive Pro |
ODrive S1 |
ODrive Micro |
ODrive v3.6 (NRND) |
|
|---|---|---|---|---|
Isolated GPIOs |
✓ |
✓ |
X |
X |
Filtered Encoder Interface |
✓ |
X |
X |
X |
Isolated CAN [6] |
✓ |
X |
X |
X |
Brake Resistor Support |
X |
✓ |
X |
✓ |
Multiple Encoder Feedback |
✓ |
✓ |
✓ |
X |
Fan Output |
✓ |
X |
X |
X |
ODrive GUI Support |
✓ |
✓ |
✓ |
X |
Next-Gen Firmware Support |
✓ |
✓ |
✓ |
X |
Mechanical Specifications
ODrive Pro |
ODrive S1 |
ODrive Micro |
ODrive v3.6 (NRND) |
|
|---|---|---|---|---|
Mass |
34g |
35g |
6.8g |
80g |
Dimensions |
51 mm x 64 mm |
66 mm x 50 mm |
32 mm x 32 mm |
135 mm x 50 mm |
[1] Specified with heatspreader plate and nominal forced air cooling. Over 100A continuous current possible with proper cooling
[2] Peak current is limited based on bus voltage. See S1 derating curve for more information.
[3] Effective utilizable DC bus voltage percentage. For instance, an ODrive S1 with a 100 RPM/V motor at a 48V bus voltage has a maximum speed of 48*100*0.78 = 3744 RPM.
[4] MOSI pin not available, see the Micro datasheet for more information
[5] CAN-FD support available in future firmware update
[6] CAN powered through DC- by default for “pseudo-isolation”. User modification required for galvanic isolation, units with galvanic isolation by default available upon request.