ODrive OpenFFboard Guide

Necessary Hardware:
-Power Supply: 36-48V recommended, depends on the motor used, higher voltage
recommended for Motors with high winding resistance.
For the power, 500-800W should be plenty for standard motors, you can calculate it by
multiplying power supply voltage by max motor current.
-Motor: industrial servo motor (Small Mige, Mitsubishi HF-SP102 or similar)
-Encoder: SPI encoder compatible with ODrive or any standard ABZ encoder, see
https://docs.google.com/spreadsheets/d/1OBDwYrBb5zUPZLrhL98ezZbg94tUsZcdTuwiVNg
VqpU/edit#gid=0
-Main board: OpenFFBoard/STM32F407 board

-Odrive: you can use chinese single drive Odrive clone. It’s important to use a board with an
integrated braking resistor circuit.
Example photo of compatible Odrive Clone (AUX terminals being used for braking resistor):
-Braking resistor, recommended 50W, 2Ohm?

In case of using generic STM32 board:

-CAN adapter: e.g. TJA1051 board

Configuration guide:
It’s recommended to replace shunt resistors on the ODrive board. By default ODrive is
designed to be used with higher currents than used by industrial servo motors.
I used 3mOhm resistors.
Green resistors next to capacitors are the one to be replaced

-After changing the resistors you have to build and flash new firmware to the ODrive Board:
Use official guide to build the new firmware:
https://docs.odriverobotics.com/v/latest/developer-guide.html
You have to change resistor value before building the firmware in the file below:
OdriveFirmwareDirectory/Board/Include/board.h
Example for 3mOhm resistor (300e-5f):

-Connect the motor, encoder and braking resistor to ODrive terminals and proceed with the
setup.
Use official Getting Started Odrive guide to setup the Motor
https://docs.odriverobotics.com/v/latest/getting-started.html

-After basic setup we have to configure the board to work with OpenFFBoard by executing
following commands in odrivetool
odrv0.can.config.baud_rate = 1000000
odrv0.save_configuration()
odrv0.reboot()

-By default ODrive will probably shut down almost immediately while used with
OpenFFBoard, to avoid that, we have to disable some of the safety features.

odrv0.axis0.controller.config.enable_overspeed_error = False
odrv0.axis0.controller.config.enable_vel_limit = False
odrv0.save_configuration()
odrv0.reboot()

Now we have to connect Odrive to OpenFFBoard

Now configure OpenFFBoard for use with ODrive:
1. Flash OpenFFBoard to STM32 board.
You can use OpenFFBoard configurator, click “Extras” in upper left corner and “DFU
Uploader”.
To put STM board to DFU mode short Boot0 pin to 3.3V.
Select the file and click Upload Firmware