ODrive/docs/figures/can-protocol.csv

1	CMD ID	Name	Sender	Signals	Start byte	Signal Type	Bits	Factor	Offset
2	0x000	CANOpen NMT Message**	Master	-	-	-	-	-	-
3	0x001	ODrive Heartbeat Message	Axis	Axis Error Axis Current State Controller Status	0 4 7	Unsigned Int Unsigned Int Bitfield	32 8 8	- - -	- - -
4	0x002	ODrive Estop Message	Master	-	-	-	-	-	-
5	0x003	Get Motor Error*	Axis	Motor Error	0	Unsigned Int	64	1	0
6	0x004	Get Encoder Error*	Axis	Encoder Error	0	Unsigned Int	32	1	0
7	0x005	Get Sensorless Error*	Axis	Sensorless Error	0	Unsigned Int	32	1	0
8	0x006	Set Axis Node ID	Master	Axis CAN Node ID	0	Unsigned Int	32	1	0
9	0x007	Set Axis Requested State	Master	Axis Requested State	0	Unsigned Int	32	1	0
10	0x008	Set Axis Startup Config	Master	- Not yet implemented -	-	-	-	-	-
11	0x009	Get Encoder Estimates*	Master	Encoder Pos Estimate Encoder Vel Estimate	0 4	IEEE 754 Float IEEE 754 Float	32 32	1 1	0 0
12	0x00A	Get Encoder Count*	Master	Encoder Shadow Count Encoder Count in CPR	0 4	Signed Int Signed Int	32 32	1 1	0 0
13	0x00B	Set Controller Modes	Master	Control Mode Input Mode	0 4	Signed Int Signed Int	32 32	1 1	0 0
14	0x00C	Set Input Pos	Master	Input Pos Vel FF Torque FF	0 4 6	IEEE 754 Float Signed Int Signed Int	32 16 16	1 0.001 0.001	0 0 0
15	0x00D	Set Input Vel	Master	Input Vel Torque FF	0 4	IEEE 754 Float IEEE 754 Float	32 32	1 1	0 0
16	0x00E	Set Input Torque	Master	Input Torque	0	IEEE 754 Float	32	1	0
17	0x00F	Set Limits	Master	Velocity Limit Current Limit	0 4	IEEE 754 Float IEEE 754 Float	32	1 1	0 0
18	0x010	Start Anticogging	Master	-	-	-	-	-	-
19	0x011	Set Traj Vel Limit	Master	Traj Vel Limit	0	IEEE 754 Float	32	1	0
20	0x012	Set Traj Accel Limits	Master	Traj Accel Limit Traj Decel Limit	0 4	IEEE 754 Float IEEE 754 Float	32 32	1 1	0 0
21	0x013	Set Traj Inertia	Master	Traj Inertia	0	IEEE 754 Float	32	1	0
22	0x014	Get IQ*	Axis	Iq Setpoint Iq Measured	0 4	IEEE 754 Float IEEE 754 Float	32 32	1 1	0 0
23	0x015	Get Sensorless Estimates*	Master	Sensorless Pos Estimate Sensorless Vel Estimate	0 4	IEEE 754 Float IEEE 754 Float	32 32	1 1	0 0
24	0x016	Reboot ODrive	Master***	-	-	-	-	-	-
25	0x017	Get Vbus Voltage	Master***	Vbus Voltage	0	IEEE 754 Float	32	1	0
26	0x018	Clear Errors	Master	-	-	-	-	-	-
27	0x019	Set Linear Count	Master	Position	0	Signed Int	32	1	0
28	0x01A	Set Position Gain	Master	Pos Gain	0	IEEE 754 Float	32	1	0
29	0x01B	Set Vel Gains	Master	Vel Gain Vel Integrator Gain	0 4	IEEE 754 Float IEEE 754 Float	32 32	1 1	0 0
30	0x700	CANOpen Heartbeat Message**	Slave	-	-	-	-	-	-