ODrive Modular Component

This module implements the motor driver for ODrive Robotics' ODrive S1 and ODrive Pro motors to be used with viam-server. This driver supports either a serial or canbus motor.

Getting Started

To use this module, follow the instructions to add a module from the Viam registry, choose the Motor component, and select the odrive:serial or odrive:canbus model from the odrive module, depending on the type of motor you are using.

Configuration

Prepare your single-board computer

1. If you haven’t already, install viam-server on your single-board computer.
2. Install odrivetool, python-can, cantools, and the Viam Python SDK.
3. Enable SPI communication on your single-board computer to support the use of several common CANHats. If you are using a Raspberry Pi, see these instructions. Other single-board computers may have other ways of setting up CANBus communications; consult the documentation for your specific board for further guidance.

Configure your ODrive motor hardware

Note

When making the initial connection to set up the ODrive, you must make a serial connection. If you intend to use a canbus connection, you can either leave the serial connection plugged in, or remove it and just leave the CANH and CANL pins wired after you initially set up the ODrive.

Use odrivetool to configure and tune your motor properly. This configuration remains on the same ODrive motor controller across reboots, but you can run odrivetool again to make changes to the configuration as needed. See the ODrive documentation for more information.

• Note that iq_msg_rate_ms in the config defaults to 0, and you must set this to around 100 to use the motor API's SetPower method.
• See the section Add an odrive_config_file for more information on dynamic configuration.
• See the ODrive CAN documentation for detailed information on how to set up CAN on your ODrive.

Connect your ODrive to your single-board computer

Connect your ODrive motor to your single-board computer in one of the following ways:

• For a serial connection: plug the USB Isolator for ODrive into a USB port on your board, and then plug a USB-A to USB-C cable from the isolator to the ODrive.
• For a canbus connection: wire the CANH and CANL pins from your board to your ODrive. Refer to the ODrive pinout diagram for further guidance.
  • You must make a serial connection initially to set up your ODrive, even if you intend to use a canbus connection eventually. After setting up the ODrive using a serial connection, if you wish to use the canbus model, you can either leave the serial connection plugged in or remove it and leave only the CANH and CANL pins wired.
  • If you are using a Raspberry Pi, you must run sudo ip link set can0 up type can bitrate <baud_rate> in the terminal on your single-board computer in order to receive CAN messages. See Troubleshooting: CAN Link Issues for more details.

Configure the ODrive motor

Note

Before configuring your motor, you must create a robot.

Navigate to the Config tab of your robot’s page in the Viam app. Click on the Components subtab and click Create component. Select the motor type, then select the odrive:serial or odrive:canbus model. Enter a name for your motor and click Create.

On the new component panel, copy and paste the following attribute template into your motor’s Attributes box, depending on whether you are using a serial connection or a canbus connection:

viam:odrive:serial

{
  "serial_number": "NUM000",
  "odrive_config_file": "local/path/to/motor/config.json"
}

Update the serial_number field with the specific serial number of your ODrive motor (if you are using more than one), and replace the odrive_config_file path with the path to your file, as written by odrivetool when you configured your ODrive motor hardware.

viam:odrive:canbus

{
  "canbus_node_id": 0
}

Update the canbus_node_id (int) to the node ID of whichever CAN node you'd like to use.

Note

For more information, see Configure a Robot.

Attributes

The following attributes are available for the motor resources available in the Viam ODrive module:

Name	Type	Inclusion	Description
canbus_node_id	int	Optional	Required for successful initialization of the "canbus" type. Node ID of the CAN node you would like to use. You configured this when setting up your ODrive. Example: 0
odrive_config_file	string	Optional	Filepath of a separate JSON file containing your ODrive's native configuration. See the Odrive S1 Modular Component repository for an example of this file.
serial_number	string	Optional	The serial number of the ODrive. Note that this is not necessary if you only have one ODrive connected. See Troubleshooting for help finding this value.
canbus_baud_rate	string	Optional	Baud rate of the ODrive CAN protocol. This attribute is only available for "canbus" connections. Use odrivetool to obtain this value with <odrv>.can.config.baud_rate. Format the string as a multiple of 1000 (k). Example: "250k"

Check the Logs tab of your machine in the Viam app to make sure your ODrive motor has connected and no errors are being raised.

Add an odrive_config_file

To add an odrive_config_file and reconfigure your ODrive natively each time the motor is initialized on the robot:

1. Using odrivetool, run the odrivetool backup-config config.json command on your single-board computer to extract your configurations from your ODrive to a file named config.json. See the ODrive documentation for more info.
2. Set iq_msg_rate_ms in the configuration file to around 100 to use the motor API's SetPower method.
3. If you add an odrive_config_file to an canbus motor, you must leave the serial connection established with your ODrive plugged in to the USB port, in addition to wiring the CANH and CANL pins. Alternatively, you can run the odrivetool restore-config /path/to/config.json command in your terminal instead of adding an odrive_config_file.

See the ODrive sample config.json file for an example of an odrive_config_file.

Example serial configuration

This example shows the configuration for an ODrive motor using a serial connection, including an odrive_config_file.

You can add or edit this configuration on your robot's page on the Viam app. Navigate to the Config tab on your robot's page and select Raw JSON mode.

{
  "modules": [
    {
      "type": "registry",
      "name": "viam_odrive",
      "module_id": "viam:odrive",
      "version": "0.0.13"
    }
  ],
  "components": [
    {
      "name": "my-odrive-motor",
      "model": "viam:odrive:serial",
      "type": "motor",
      "namespace": "rdk",
      "attributes": {
        "odrive_config_file": "/path/to/my/config.json"
      },
      "depends_on": []
    }
  ]
}

Example canbus configuration

This example shows the configuration for two ODrive motors using a canbus connection, where each motor specifies its own odrive_config_file.

You can add or edit this configuration on your robot's page on the Viam app. Navigate to the Config tab on your robot's page and select Raw JSON mode.

{
  "modules": [
    {
      "type": "registry",
      "name": "viam_odrive",
      "module_id": "viam:odrive",
      "version": "0.0.13"
    }
  ],
  "components": [
    {
      "model": "viam:odrive:canbus",
      "namespace": "rdk",
      "attributes": {
        "canbus_node_id": 0,
        "odrive_config_file": "/path/to/first/config.json",
        "serial_number": "NUM0001"
      },
      "depends_on": [],
      "type": "motor",
      "name": "my-odrive-motor"
    },
    {
      "model": "viam:odrive:canbus",
      "namespace": "rdk",
      "attributes": {
        "canbus_node_id": 2,
        "odrive_config_file": "/path/to/second/config.json",
        "serial_number": "NUM0002"
      },
      "depends_on": [],
      "type": "motor",
      "name": "my-odrive-motor-2"
    }
  ]
}

Next Steps

• To test your ODrive motor, go to the Control tab.
• To write code against your ODrive motor, use one of the available SDKs.
• To view examples using a motor component, explore these tutorials.

Troubleshooting

Unstable Behavior

• The motor is likely not properly tuned. See the ODrive documentation for instructions on how to tune.

Hanging

• If you have provided a serial number, make sure it is the correct serial number. ODrives have 2 serial numbers: one that will be printed out when you start odrivetool, and one that can be accessed in odrivetool by running odrv0.serial_number. The correct serial number is the one that is printed out when you start odrivetool.
• If you have not provided a serial number or you are sure you have provided the correct serial number, you are likely connected to the ODrive elsewhere. Make sure any connections via Python, odrivetool or the GUI are closed.

CAN Link Issues

• If you get an error of "Device or resource busy", try setting CAN down and back up with the command sudo ip link set can0 down followed by sudo ip link set can0 up type can bitrate <baud_rate>
  • You will have to do this any time you want to change the baud rate
• If you get an error of "Network is down", try setting CAN up with the command sudo ip link set can0 up type can bitrate <baud_rate>

License

Copyright 2021-2023 Viam Inc.

Apache 2.0 - See LICENSE file