does not accept CAN commands

Support
1

I’m sending commands to the ODrive mini v1.0 via Waveshare USB-CAN-A over CAN, but ODrive isn’t responding.
I can see ODrive’s Heardbeat, and the packet format being sent is also correct.
What could be the problem?
here is the output of the program :

CAN init sent
Monitoring heartbeat...
Received ALL: ID=0x21, Data=0000000008000000
Heartbeat: Error=0, State=8
ODrive ready for control!
Received ALL: ID=0x21, Data=0000000008000000
Heartbeat: Error=0, State=8
ODrive ready for control!
Received ALL: ID=0x21, Data=0000000008000000
Heartbeat: Error=0, State=8
ODrive ready for control!
Received ALL: ID=0x21, Data=0000000008000000
Heartbeat: Error=0, State=8
ODrive ready for control!
Received ALL: ID=0x21, Data=0000000008000000
Heartbeat: Error=0, State=8
ODrive ready for control!
Received ALL: ID=0x21, Data=0000000008000000
Heartbeat: Error=0, State=8
ODrive ready for control!
Received ALL: ID=0x21, Data=0000000008000000
Heartbeat: Error=0, State=8
ODrive ready for control!
Received ALL: ID=0x21, Data=0000000008000000
Heartbeat: Error=0, State=8
ODrive ready for control!
Received ALL: ID=0x21, Data=0000000008000000
Heartbeat: Error=0, State=8
ODrive ready for control!
Received ALL: ID=0x21, Data=0000000008000000
Heartbeat: Error=0, State=8
ODrive ready for control!

Sending position setpoint (2 rev)...
Sending CAN: ID=0x2c, Data=0000004000000000, Remote=False, Frame=aac82c00000000400000000055
Requesting current position...
Sending CAN: ID=0x29, Data=, Remote=True, Frame=aad0290055
Received ALL: ID=0x21, Data=0000000008000000
Unexpected response ID: 0x21
2

Does the position setpoint change with your 0x2C message? I would verify that you’re using 11-bit CAN addresses (not 29-bit). You can also connect to the ODrive over USB and monitor can.n_rx to see if the ODrive is receiving your sent messages.

3

Sending the 0x2C message doesn’t change the situation. Odrivetool responds to the odrv0.can.n_rx command with anonymous_interface' object has no attribute 'n_rx'
firmware version - ODrive control utility v0.6.10.

4

What firmware version are you running?

5

I’m use ``` odrv0.fw_version_major, odrv0.fw_version_minor, odrv0.fw_version_revision
Out[1]: (0, 0, 0)

6

Oh - are you using an ODrive clone or something we don’t sell? Maybe they did something weird with the CAN protocol, we can’t help very well with those. I’d recommend reaching out to the manufacturer for support.

7

Dear all , I installed firmware version 0.5.6 on ODrive v3.6-56V https://docs.odriverobotics.com/releases/firmware, but it also doesn’t have can.n_rx.
Is there a newer firmware version for ODrive v3.6-56V?
And also dev0.axis0.requested_stat does not accept the value AXIS_STATE_CLOSED_LOOP_CONTROL and constantly remains in the IDLE state.
although there are no errors on axis 0

In [14]: dump_errors(dev0)
system: no error
axis0
  axis: no error
  motor: no error
  DRV fault: none
  sensorless_estimator: no error
  encoder: no error
  controller: no error
axis1
  axis: Error(s):
    AxisError.MOTOR_FAILED
  motor: Error(s):
    MotorError.DRV_FAULT
  DRV fault: metadata not loaded
  sensorless_estimator: no error
  encoder: no error
  controller: no error

only on axis1 , but i don’t use axis1

8

I’d recommend contacting the manufacturer for more information and help. You may have to use their firmware then, but we can’t help support that unfortunately.