ODrive spindles
ODrive spindles are currently an experimental feature under active development.
ODrive spindles are a new type of spindle that is controlled by an ODrive 3.6+. The ODrive is a high performance motor controller that can be used for many applications.
We currently support velocity control through CAN as a closed loop system.
Setting up the ODrive
Before you can use the ODrive as a spindle, you need to configure the ODrive to accept CAN messages. Setup the ODrive per instructions on the ODrive website,
and make sure it is fully calibrated and working before attempting to wire it to a FluidBoard.
Wiring
ODrives give issues when ground loops are present. To prevent this, we use a fully isolated CAN controller. Wire the ODrive as follows:
| ODrive pin |
Controller pin |
Description |
| Gnd |
Gnd |
Isolated gnd |
| H |
H |
Can-H |
| L |
L |
Can-L |
| +5v |
Vcc |
Isolated +5v |
In the common case where you're using one FluidBoard controller, you also need to terminate the CAN bus with the jumper.
If +5v and Gnd are not available on the ODrive near the CAN bus, you can use the +5v and GND from the encoder inputs of the ODrive.
Configuration
ODrive:
can_tx: gpio.9
can_rx: gpio.47
odrive_node_id: 1
The parameters of the ODrive will be automatically downloaded by the FluidNC controller.