From 51c9047c351d6a0cd3d3a57f75d97aaea3d92c20 Mon Sep 17 00:00:00 2001 From: PAJohnson Date: Tue, 29 Sep 2020 17:11:13 -0400 Subject: [PATCH] Added note to CAN documentation about bus crash if two ODrives are connected without node ID configuration --- docs/can-protocol.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/can-protocol.md b/docs/can-protocol.md index 0b3f0c84..5ac54750 100644 --- a/docs/can-protocol.md +++ b/docs/can-protocol.md @@ -73,7 +73,7 @@ Configuration of the CAN parameters should be done via USB before putting the de To set the desired baud rate, use `.can.set_baud_rate()`. The baud rate can be done without rebooting the device. If you'd like to keep the baud rate, simply call `.save_configuration()` before rebooting. -Each axis looks like a separate node on the bus. Thus, they both have the two properties `can_node_id` and `can_node_id_extended`. The node ID can be from 0 to 63 (0x3F) inclusive, or, if extended CAN IDs are used, from 0 to 16777215 (0xFFFFFF). +Each axis looks like a separate node on the bus. Thus, they both have the two properties `can_node_id` and `can_node_id_extended`. The node ID can be from 0 to 63 (0x3F) inclusive, or, if extended CAN IDs are used, from 0 to 16777215 (0xFFFFFF). If you want to connect more than one ODrive on a CAN bus, you must set different node IDs for the second ODrive or they will conflict and crash the bus. ### Example Configuration