Odrive CAN encoder cyclic messages

Support
1

Hi there! I’m trying to set up the pos estimate cyclic message over CAN.

According to the documentation I should be able to set it with the odrivetool in axis.config.can but all I find is axis.config.can_heartbeat_rate_ms, axis.config.can_node_id, and axis.config.can_node_id_extended. Should there be a can_encoder_ms or something like it? Did I install the wrong version of odrivetool with pip? Any help would be appreciated.

Thanks!

2

Adding to that, when receiving the can messages (default configuration) I only see the two heartbeat messages from both axis. I’m using an Odrive v3.6 with the default firmware. Does this version not send cyclic encoder data? Is it a firmware issue? I know I can get the encoder data with the get encoder estimates command, but using the cyclic feature would save me some communication time!

3

Double check that you’re actually on up to date firmware. We added the encoder cyclic messages a long time ago

4

Thank you for the reply! Seems like I’m working with firmware version 0.5.1 and encoder cyclic messages were added on version 0.5.2 :sweat_smile: . Seems like I’ll have to export my odrive config and update the firmware. Thanks @Wetmelon !