CAN bus with odrive-pro(0.6.4)

1

Hi,
I have set up CAN-bus to work with Arduino.
And I disabled heartbeet (0ms).
Then, a large number of Get_Encoder_Estimates (0x09) were received as shown below.
Is this correct?
Can I disable it?
someone please push
thanks.

//recieve data
09:47:09.187 → Entering Configuration Mode Successful!
09:47:10.086 → Setting Baudrate Successful!
09:47:10.086 → CAN0: Init OK!
09:47:11.372 → **** loop Start DEBUG ****
09:47:11.466 → Length: 8 Recive ID: 29 Data: 0 0 77 37 9C C5 8F 3B
09:47:11.466 → Length: 8 Recive ID: 29 Data: 0 0 77 37 9C C5 8F 3B
09:47:11.466 → Length: 8 Recive ID: 29 Data: 0 0 2A 37 50 DA D1 3A
09:47:11.511 → Length: 8 Recive ID: 29 Data: 0 0 35 37 5F 30 9A 3A
09:47:11.511 → Length: 8 Recive ID: 29 Data: 0 0 35 37 5F 30 9A 3A
09:47:11.511 → Length: 8 Recive ID: 29 Data: 0 0 35 37 5F 30 9A 3A
09:47:11.511 → Length: 8 Recive ID: 29 Data: 0 0 EC 36 8E 90 83 3B
09:47:11.511 → Length: 8 Recive ID: 29 Data: 0 0 EC 36 8E 90 83 3B
09:47:11.511 → Length: 8 Recive ID: 29 Data: 0 0 89 37 E E0 D0 3A
09:47:11.511 → Length: 8 Recive ID: 29 Data: 0 0 89 37 E E0 D0 3A
09:47:11.511 → Length: 8 Recive ID: 29 Data: 0 80 B2 37 82 D F 3C
09:47:11.511 → Length: 8 Recive ID: 29 Data: 0 80 B2 37 82 D F 3C
09:47:11.557 → Length: 8 Recive ID: 29 Data: 0 0 36 37 DE 13 1A 3A
09:47:11.557 → Length: 8 Recive ID: 29 Data: 0 0 36 37 DE 13 1A 3A
09:47:11.557 → Length: 8 Recive ID: 29 Data: 0 0 53 B7 84 B3 BE BB
09:47:11.557 → Length: 8 Recive ID: 29 Data: 0 0 53 B7 84 B3 BE BB
09:47:11.557 → Length: 8 Recive ID: 29 Data: 0 0 9C 37 3C 88 1F 3C
09:47:11.557 → Length: 8 Recive ID: 29 Data: 0 0 9C 37 3C 88 1F 3C
09:47:11.557 → Length: 8 Recive ID: 29 Data: 0 0 41 37 F2 4E 2C 3B
09:47:11.557 → Length: 8 Recive ID: 29 Data: 0 0 41 37 F2 4E 2C 3B
09:47:11.557 → Length: 8 Recive ID: 29 Data: 0 0 1E 37 E0 6 38 3B
09:47:11.603 → Length: 8 Recive ID: 29 Data: 0 0 1E 37 E0 6 38 3B
09:47:11.603 → Length: 8 Recive ID: 29 Data: 0 0 22 B7 18 61 EB BB
09:47:11.603 → Length: 8 Recive ID: 29 Data: 0 0 22 B7 18 61 EB BB
09:47:11.603 → Length: 8 Recive ID: 29 Data: 0 0 48 B6 3A 79 7D BB
09:47:11.603 → Length: 8 Recive ID: 29 Data: 0 0 48 B6 3A 79 7D BB
09:47:11.603 → Length: 8 Recive ID: 29 Data: 0 0 21 37 8B 1 F5 3A
09:47:11.603 → Length: 8 Recive ID: 29 Data: 0 0 21 37 8B 1 F5 3A
09:47:11.603 → Length: 8 Recive ID: 29 Data: 0 0 23 37 D8 C4 42 3B

2

I tried communicating with a physically different board (axis_id=0x02).
Encoder uses AMT212D.
Heartbeat is 100(ms).
Results are shown below.
Isn’t this a bug?
Developers should definitely check it out.

==== Results ===================================
03:30:37.135 → Setting Baudrate Successful!
03:30:37.135 → CAN0: Init OK!
03:30:38.435 → **** loop Start DEBUG ****
03:30:38.622 → Length: 8 Recive ID: 49 Data: 0 0 0 B8 C4 50 14 BC
03:30:38.622 → Length: 8 Recive ID: 49 Data: 0 0 62 B7 E1 A5 8B 3A
03:30:38.622 → Length: 8 Recive ID: 49 Data: 0 0 CA B6 F5 4 91 3B
03:30:38.669 → Length: 8 Recive ID: 49 Data: 0 80 7 B8 89 CD F7 BB
03:30:38.669 → Length: 8 Recive ID: 49 Data: 0 0 5 B7 F2 14 38 3B
03:30:38.669 → Length: 8 Recive ID: 49 Data: 0 80 93 B7 24 96 E1 BA
03:30:38.669 → Length: 8 Recive ID: 49 Data: 0 0 64 B7 95 47 6E 3A
03:30:38.669 → Length: 8 Recive ID: 49 Data: 0 0 94 B6 F1 68 AA 3B
03:30:38.716 → Length: 8 Recive ID: 49 Data: 0 80 9C B7 2C 9E 36 BB
03:30:38.716 → Length: 8 Recive ID: 41 Data: 1 0 0 0 1 0 0 0
03:30:38.716 → Length: 8 Recive ID: 49 Data: 0 0 12 B7 D2 CE 19 3B
03:30:38.716 → Length: 8 Recive ID: 49 Data: 0 0 7A B7 85 D6 D6 39
03:30:38.716 → Length: 8 Recive ID: 49 Data: 0 0 94 B6 E8 A 90 3B
03:30:38.716 → Length: 8 Recive ID: 49 Data: 0 0 12 B7 68 A6 BF 3B
03:30:38.762 → Length: 8 Recive ID: 49 Data: 0 0 A4 B7 6B 96 E1 BA
03:30:38.762 → Length: 8 Recive ID: 49 Data: 0 0 84 B6 C5 59 6B 3B
03:30:38.762 → Length: 8 Recive ID: 49 Data: 0 80 DB B7 9F 3C A7 BB
03:30:38.762 → Length: 8 Recive ID: 49 Data: 0 0 37 B7 87 51 99 3A
03:30:38.808 → Length: 8 Recive ID: 49 Data: 0 0 A2 B7 92 AC 8A BA
03:30:38.808 → Length: 8 Recive ID: 49 Data: 0 0 95 B7 90 14 24 B9
03:30:38.808 → Length: 8 Recive ID: 41 Data: 1 0 0 0 1 0 0 0
03:30:38.808 → Length: 8 Recive ID: 49 Data: 0 0 B6 B6 5C F3 C7 3B
03:30:38.808 → Length: 8 Recive ID: 49 Data: 0 0 D7 B7 A6 B3 A8 BB
03:30:38.808 → Length: 8 Recive ID: 49 Data: 0 0 3E B7 B7 52 4 3B
03:30:38.855 → Length: 8 Recive ID: 49 Data: 0 0 5 B8 54 41 21 BC

3

sorry
Wiring may be bad.
Think again.
thanks.

4

There are multiple messages sent cyclically. Each one can be disabled by setting it to 0ms. If you set Heartbeat to 0, you will stop receiving heartbeats, but the Encoder estimates will continue. If you don’t want Encoder Estimates either, set that one to 0ms.