Hi all,
I’m working on a robotics project that requires a through-bore, absolute multiturn encoder. The RLS Orbis looks like a perfect mechanical fit (hollow shaft, compact), and I’ve seen that it’s already listed as supported on the ODrive S1 over SPI.
From the docs, though, it seems current support is limited to 14-bit single-turn only. For my use case the joint rotates continuously, so I need multiturn absolute capability.
My questions:
- Is there a roadmap for enabling multiturn Orbis support on the S1 (via SPI or BiSS-C)?
- If not, is there any known timeline or planned firmware update that would make this possible?
- Has anyone here tried Orbis multiturn on S1 (via custom firmware or experimental builds)?
- Are there alternative through-bore, multiturn encoders that the community recommends which are already known to work reliably with S1?
Thanks in advance for any guidance!
Hey!
Is there a roadmap for enabling multiturn Orbis support on the S1 (via SPI or BiSS-C)?
I have this code written already 
I can probably get it merged in by Friday? 
By the way though – I would be very careful that the Orbis multiturn does what you’re expecting. Normally it just counts the turns since startup – much like the ODrive does. If you want it to store the turn count across power cycles / reboots, you need to get the battery backup orbis multiturn.
Thanks so much for the quick and detailed response! That’s awesome to hear the multiturn code is already written and close to being merged. I’ll keep an eye out for the update later this week!
Just merged! See:
Should be on devel firmware channel – just configure as a BiSS-C encoder, setting singleturn and multiturn bit numbers. Uses the existing multiturn data extraction from the BiSS-C decode algorithm, but the functionality itself is untested (no multiturn BiSS-C on my desk), so please let me know if it’s broken and I’ll get a fix!