Cansimple interface Odrive Pro

See also original odrive docs:

• can guide
• cansimple protocol

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generated from dbc file by scripts/gen_dbc_docs.py

odrive-cansimple-0.6.10 interface

ID: 0 - Axis0_Get_Version

• Name: Axis0_Get_Version
• Length: 8 bytes
• Sender: ['ODrive_Axis0']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Protocol_Version	0	8	1	0	None	None		Master
Hw_Version_Major	8	8	1	0	None	None		Master
Hw_Version_Minor	16	8	1	0	None	None		Master
Hw_Version_Variant	24	8	1	0	None	None		Master
Fw_Version_Major	32	8	1	0	None	None		Master
Fw_Version_Minor	40	8	1	0	None	None		Master
Fw_Version_Revision	48	8	1	0	None	None		Master
Fw_Version_Unreleased	56	8	1	0	None	None		Master

ID: 1 - Axis0_Heartbeat

• Name: Axis0_Heartbeat
• Length: 8 bytes
• Sender: ['ODrive_Axis0']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Axis_Error	0	32	1	0	None	None		Master	0: NONE, 1: INITIALIZING, 2: SYSTEM_LEVEL, 4: TIMING_ERROR, 8: MISSING_ESTIMATE, 16: BAD_CONFIG, 32: DRV_FAULT, 64: MISSING_INPUT, 256: DC_BUS_OVER_VOLTAGE, 512: DC_BUS_UNDER_VOLTAGE, 1024: DC_BUS_OVER_CURRENT, 2048: DC_BUS_OVER_REGEN_CURRENT, 4096: CURRENT_LIMIT_VIOLATION, 8192: MOTOR_OVER_TEMP, 16384: INVERTER_OVER_TEMP, 32768: VELOCITY_LIMIT_VIOLATION, 65536: POSITION_LIMIT_VIOLATION, 16777216: WATCHDOG_TIMER_EXPIRED, 33554432: ESTOP_REQUESTED, 67108864: SPINOUT_DETECTED, 134217728: BRAKE_RESISTOR_DISARMED, 268435456: THERMISTOR_DISCONNECTED, 1073741824: CALIBRATION_ERROR
Axis_State	32	8	1	0	None	None		Master	0: UNDEFINED, 1: IDLE, 2: STARTUP_SEQUENCE, 3: FULL_CALIBRATION_SEQUENCE, 4: MOTOR_CALIBRATION, 6: ENCODER_INDEX_SEARCH, 7: ENCODER_OFFSET_CALIBRATION, 8: CLOSED_LOOP_CONTROL, 9: LOCKIN_SPIN, 10: ENCODER_DIR_FIND, 11: HOMING, 12: ENCODER_HALL_POLARITY_CALIBRATION, 13: ENCODER_HALL_PHASE_CALIBRATION, 14: ANTICOGGING_CALIBRATION, 5: SENSORLESS_CONTROL
Procedure_Result	40	8	1	0	None	None		Master	0: SUCCESS, 1: BUSY, 2: CANCELLED, 3: DISARMED, 4: NO_RESPONSE, 5: POLE_PAIR_CPR_MISMATCH, 6: PHASE_RESISTANCE_OUT_OF_RANGE, 7: PHASE_INDUCTANCE_OUT_OF_RANGE, 8: UNBALANCED_PHASES, 9: INVALID_MOTOR_TYPE, 10: ILLEGAL_HALL_STATE, 11: TIMEOUT, 12: HOMING_WITHOUT_ENDSTOP, 13: INVALID_STATE, 14: NOT_CALIBRATED, 15: NOT_CONVERGING
Trajectory_Done_Flag	48	1	1	0	None	None		Master

ID: 2 - Axis0_Estop

• Name: Axis0_Estop
• Length: 0 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices

ID: 3 - Axis0_Get_Error

• Name: Axis0_Get_Error
• Length: 8 bytes
• Sender: ['ODrive_Axis0']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Active_Errors	0	32	1	0	None	None		Master	0: NONE, 1: INITIALIZING, 2: SYSTEM_LEVEL, 4: TIMING_ERROR, 8: MISSING_ESTIMATE, 16: BAD_CONFIG, 32: DRV_FAULT, 64: MISSING_INPUT, 256: DC_BUS_OVER_VOLTAGE, 512: DC_BUS_UNDER_VOLTAGE, 1024: DC_BUS_OVER_CURRENT, 2048: DC_BUS_OVER_REGEN_CURRENT, 4096: CURRENT_LIMIT_VIOLATION, 8192: MOTOR_OVER_TEMP, 16384: INVERTER_OVER_TEMP, 32768: VELOCITY_LIMIT_VIOLATION, 65536: POSITION_LIMIT_VIOLATION, 16777216: WATCHDOG_TIMER_EXPIRED, 33554432: ESTOP_REQUESTED, 67108864: SPINOUT_DETECTED, 134217728: BRAKE_RESISTOR_DISARMED, 268435456: THERMISTOR_DISCONNECTED, 1073741824: CALIBRATION_ERROR
Disarm_Reason	32	32	1	0	None	None		Master	0: NONE, 1: INITIALIZING, 2: SYSTEM_LEVEL, 4: TIMING_ERROR, 8: MISSING_ESTIMATE, 16: BAD_CONFIG, 32: DRV_FAULT, 64: MISSING_INPUT, 256: DC_BUS_OVER_VOLTAGE, 512: DC_BUS_UNDER_VOLTAGE, 1024: DC_BUS_OVER_CURRENT, 2048: DC_BUS_OVER_REGEN_CURRENT, 4096: CURRENT_LIMIT_VIOLATION, 8192: MOTOR_OVER_TEMP, 16384: INVERTER_OVER_TEMP, 32768: VELOCITY_LIMIT_VIOLATION, 65536: POSITION_LIMIT_VIOLATION, 16777216: WATCHDOG_TIMER_EXPIRED, 33554432: ESTOP_REQUESTED, 67108864: SPINOUT_DETECTED, 134217728: BRAKE_RESISTOR_DISARMED, 268435456: THERMISTOR_DISCONNECTED, 1073741824: CALIBRATION_ERROR

ID: 4 - Axis0_RxSdo

• Name: Axis0_RxSdo
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Opcode	0	8	1	0	None	None			0: READ, 1: WRITE
Endpoint_ID	8	16	1	0	None	None
Reserved	24	8	1	0	None	None
Value	32	32	1	0	None	None

ID: 5 - Axis0_TxSdo

• Name: Axis0_TxSdo
• Length: 8 bytes
• Sender: ['ODrive_Axis0']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Reserved0	0	8	1	0	None	None
Endpoint_ID	8	16	1	0	None	None
Reserved1	24	8	1	0	None	None
Value	32	32	1	0	None	None

ID: 6 - Axis0_Address

• Name: Axis0_Address
• Length: 8 bytes
• Sender: ['Master', 'ODrive_Axis0']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Node_ID	0	8	1	0	None	None		ODrive_Axis0
Serial_Number	8	48	1	0	None	None		ODrive_Axis0

ID: 7 - Axis0_Set_Axis_State

• Name: Axis0_Set_Axis_State
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Axis_Requested_State	0	32	1	0	None	None		ODrive_Axis0	0: UNDEFINED, 1: IDLE, 2: STARTUP_SEQUENCE, 3: FULL_CALIBRATION_SEQUENCE, 4: MOTOR_CALIBRATION, 6: ENCODER_INDEX_SEARCH, 7: ENCODER_OFFSET_CALIBRATION, 8: CLOSED_LOOP_CONTROL, 9: LOCKIN_SPIN, 10: ENCODER_DIR_FIND, 11: HOMING, 12: ENCODER_HALL_POLARITY_CALIBRATION, 13: ENCODER_HALL_PHASE_CALIBRATION, 14: ANTICOGGING_CALIBRATION, 5: SENSORLESS_CONTROL

ID: 9 - Axis0_Get_Encoder_Estimates

• Name: Axis0_Get_Encoder_Estimates
• Length: 8 bytes
• Sender: ['ODrive_Axis0']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Pos_Estimate	0	32	1	0	None	None	rev	Master
Vel_Estimate	32	32	1	0	None	None	rev/s	Master

ID: 11 - Axis0_Set_Controller_Mode

• Name: Axis0_Set_Controller_Mode
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Control_Mode	0	32	1	0	None	None		ODrive_Axis0	0: VOLTAGE_CONTROL, 1: TORQUE_CONTROL, 2: VELOCITY_CONTROL, 3: POSITION_CONTROL
Input_Mode	32	32	1	0	None	None		ODrive_Axis0	0: INACTIVE, 1: PASSTHROUGH, 2: VEL_RAMP, 3: POS_FILTER, 4: MIX_CHANNELS, 5: TRAP_TRAJ, 6: TORQUE_RAMP, 7: MIRROR, 8: TUNING

ID: 12 - Axis0_Set_Input_Pos

• Name: Axis0_Set_Input_Pos
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Input_Pos	0	32	1	0	None	None	rev	ODrive_Axis0
Vel_FF	32	16	0.001	0	None	None	rev/s (default) [#vel-ff-scale]_	ODrive_Axis0
Torque_FF	48	16	0.001	0	None	None	Nm (default) [#torque-ff-scale]_	ODrive_Axis0

ID: 13 - Axis0_Set_Input_Vel

• Name: Axis0_Set_Input_Vel
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Input_Vel	0	32	1	0	None	None	rev/s	ODrive_Axis0
Input_Torque_FF	32	32	1	0	None	None	Nm	ODrive_Axis0

ID: 14 - Axis0_Set_Input_Torque

• Name: Axis0_Set_Input_Torque
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Input_Torque	0	32	1	0	None	None	Nm	ODrive_Axis0

ID: 15 - Axis0_Set_Limits

• Name: Axis0_Set_Limits
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Velocity_Limit	0	32	1	0	None	None	rev/s	ODrive_Axis0
Current_Limit	32	32	1	0	None	None	A	ODrive_Axis0

ID: 17 - Axis0_Set_Traj_Vel_Limit

• Name: Axis0_Set_Traj_Vel_Limit
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Traj_Vel_Limit	0	32	1	0	None	None	rev/s	ODrive_Axis0

ID: 18 - Axis0_Set_Traj_Accel_Limits

• Name: Axis0_Set_Traj_Accel_Limits
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Traj_Accel_Limit	0	32	1	0	None	None	rev/s^2	ODrive_Axis0
Traj_Decel_Limit	32	32	1	0	None	None	rev/s^2	ODrive_Axis0

ID: 19 - Axis0_Set_Traj_Inertia

• Name: Axis0_Set_Traj_Inertia
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Traj_Inertia	0	32	1	0	None	None	Nm/(rev/s^2)	ODrive_Axis0

ID: 20 - Axis0_Get_Iq

• Name: Axis0_Get_Iq
• Length: 8 bytes
• Sender: ['ODrive_Axis0']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Iq_Setpoint	0	32	1	0	None	None	A	Master
Iq_Measured	32	32	1	0	None	None	A	Master

ID: 21 - Axis0_Get_Temperature

• Name: Axis0_Get_Temperature
• Length: 8 bytes
• Sender: ['ODrive_Axis0']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
FET_Temperature	0	32	1	0	None	None	deg C	Master
Motor_Temperature	32	32	1	0	None	None	deg C	Master

ID: 22 - Axis0_Reboot

• Name: Axis0_Reboot
• Length: 1 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Action	0	8	1	0	None	None		ODrive_Axis0	0: reboot, 1: save_configuration, 2: erase_configuration, 3: enter_dfu_mode

ID: 23 - Axis0_Get_Bus_Voltage_Current

• Name: Axis0_Get_Bus_Voltage_Current
• Length: 8 bytes
• Sender: ['ODrive_Axis0']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Bus_Voltage	0	32	1	0	None	None	V	Master
Bus_Current	32	32	1	0	None	None	A	Master

ID: 24 - Axis0_Clear_Errors

• Name: Axis0_Clear_Errors
• Length: 1 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Identify	0	8	1	0	None	None		ODrive_Axis0

ID: 25 - Axis0_Set_Absolute_Position

• Name: Axis0_Set_Absolute_Position
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Position	0	32	1	0	None	None	rev	ODrive_Axis0

ID: 26 - Axis0_Set_Pos_Gain

• Name: Axis0_Set_Pos_Gain
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Pos_Gain	0	32	1	0	None	None	(rev/s) / rev	ODrive_Axis0

ID: 27 - Axis0_Set_Vel_Gains

• Name: Axis0_Set_Vel_Gains
• Length: 8 bytes
• Sender: ['Master']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Vel_Gain	0	32	1	0	None	None	Nm / (rev/s)	ODrive_Axis0
Vel_Integrator_Gain	32	32	1	0	None	None	Nm / rev	ODrive_Axis0

ID: 28 - Axis0_Get_Torques

• Name: Axis0_Get_Torques
• Length: 8 bytes
• Sender: ['ODrive_Axis0']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Torque_Target	0	32	1	0	None	None	Nm	Master
Torque_Estimate	32	32	1	0	None	None	Nm	Master

ID: 29 - Axis0_Get_Powers

• Name: Axis0_Get_Powers
• Length: 8 bytes
• Sender: ['ODrive_Axis0']

Signal Name	Start Bit	Length	Factor	Offset	Min Value	Max Value	Unit	Receiver	Choices
Electrical_Power	0	32	1	0	None	None	W	Master
Mechanical_Power	32	32	1	0	None	None	W	Master

ID: 31 - Axis0_Enter_DFU_Mode

• Name: Axis0_Enter_DFU_Mode
• Length: 0 bytes
• Sender: ['Master']

ID: 32 - Axis1_Get_Version

• Name: Axis1_Get_Version
• Length: 8 bytes
• Sender: ['ODrive_Axis1']

ID: 33 - Axis1_Heartbeat

• Name: Axis1_Heartbeat
• Length: 8 bytes
• Sender: ['ODrive_Axis1']

ID: 34 - Axis1_Estop

• Name: Axis1_Estop
• Length: 0 bytes
• Sender: ['Master']

ID: 35 - Axis1_Get_Error

• Name: Axis1_Get_Error
• Length: 8 bytes
• Sender: ['ODrive_Axis1']

ID: 36 - Axis1_RxSdo

• Name: Axis1_RxSdo
• Length: 8 bytes
• Sender: ['Master']

ID: 37 - Axis1_TxSdo

• Name: Axis1_TxSdo
• Length: 8 bytes
• Sender: ['ODrive_Axis1']

ID: 38 - Axis1_Address

• Name: Axis1_Address
• Length: 8 bytes
• Sender: ['Master', 'ODrive_Axis1']

ID: 39 - Axis1_Set_Axis_State

• Name: Axis1_Set_Axis_State
• Length: 8 bytes
• Sender: ['Master']

ID: 41 - Axis1_Get_Encoder_Estimates

• Name: Axis1_Get_Encoder_Estimates
• Length: 8 bytes
• Sender: ['ODrive_Axis1']

ID: 43 - Axis1_Set_Controller_Mode

• Name: Axis1_Set_Controller_Mode
• Length: 8 bytes
• Sender: ['Master']

ID: 44 - Axis1_Set_Input_Pos

• Name: Axis1_Set_Input_Pos
• Length: 8 bytes
• Sender: ['Master']

ID: 45 - Axis1_Set_Input_Vel

• Name: Axis1_Set_Input_Vel
• Length: 8 bytes
• Sender: ['Master']

ID: 46 - Axis1_Set_Input_Torque

• Name: Axis1_Set_Input_Torque
• Length: 8 bytes
• Sender: ['Master']

ID: 47 - Axis1_Set_Limits

• Name: Axis1_Set_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 49 - Axis1_Set_Traj_Vel_Limit

• Name: Axis1_Set_Traj_Vel_Limit
• Length: 8 bytes
• Sender: ['Master']

ID: 50 - Axis1_Set_Traj_Accel_Limits

• Name: Axis1_Set_Traj_Accel_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 51 - Axis1_Set_Traj_Inertia

• Name: Axis1_Set_Traj_Inertia
• Length: 8 bytes
• Sender: ['Master']

ID: 52 - Axis1_Get_Iq

• Name: Axis1_Get_Iq
• Length: 8 bytes
• Sender: ['ODrive_Axis1']

ID: 53 - Axis1_Get_Temperature

• Name: Axis1_Get_Temperature
• Length: 8 bytes
• Sender: ['ODrive_Axis1']

ID: 54 - Axis1_Reboot

• Name: Axis1_Reboot
• Length: 1 bytes
• Sender: ['Master']

ID: 55 - Axis1_Get_Bus_Voltage_Current

• Name: Axis1_Get_Bus_Voltage_Current
• Length: 8 bytes
• Sender: ['ODrive_Axis1']

ID: 56 - Axis1_Clear_Errors

• Name: Axis1_Clear_Errors
• Length: 1 bytes
• Sender: ['Master']

ID: 57 - Axis1_Set_Absolute_Position

• Name: Axis1_Set_Absolute_Position
• Length: 8 bytes
• Sender: ['Master']

ID: 58 - Axis1_Set_Pos_Gain

• Name: Axis1_Set_Pos_Gain
• Length: 8 bytes
• Sender: ['Master']

ID: 59 - Axis1_Set_Vel_Gains

• Name: Axis1_Set_Vel_Gains
• Length: 8 bytes
• Sender: ['Master']

ID: 60 - Axis1_Get_Torques

• Name: Axis1_Get_Torques
• Length: 8 bytes
• Sender: ['ODrive_Axis1']

ID: 61 - Axis1_Get_Powers

• Name: Axis1_Get_Powers
• Length: 8 bytes
• Sender: ['ODrive_Axis1']

ID: 63 - Axis1_Enter_DFU_Mode

• Name: Axis1_Enter_DFU_Mode
• Length: 0 bytes
• Sender: ['Master']

ID: 64 - Axis2_Get_Version

• Name: Axis2_Get_Version
• Length: 8 bytes
• Sender: ['ODrive_Axis2']

ID: 65 - Axis2_Heartbeat

• Name: Axis2_Heartbeat
• Length: 8 bytes
• Sender: ['ODrive_Axis2']

ID: 66 - Axis2_Estop

• Name: Axis2_Estop
• Length: 0 bytes
• Sender: ['Master']

ID: 67 - Axis2_Get_Error

• Name: Axis2_Get_Error
• Length: 8 bytes
• Sender: ['ODrive_Axis2']

ID: 68 - Axis2_RxSdo

• Name: Axis2_RxSdo
• Length: 8 bytes
• Sender: ['Master']

ID: 69 - Axis2_TxSdo

• Name: Axis2_TxSdo
• Length: 8 bytes
• Sender: ['ODrive_Axis2']

ID: 70 - Axis2_Address

• Name: Axis2_Address
• Length: 8 bytes
• Sender: ['Master', 'ODrive_Axis2']

ID: 71 - Axis2_Set_Axis_State

• Name: Axis2_Set_Axis_State
• Length: 8 bytes
• Sender: ['Master']

ID: 73 - Axis2_Get_Encoder_Estimates

• Name: Axis2_Get_Encoder_Estimates
• Length: 8 bytes
• Sender: ['ODrive_Axis2']

ID: 75 - Axis2_Set_Controller_Mode

• Name: Axis2_Set_Controller_Mode
• Length: 8 bytes
• Sender: ['Master']

ID: 76 - Axis2_Set_Input_Pos

• Name: Axis2_Set_Input_Pos
• Length: 8 bytes
• Sender: ['Master']

ID: 77 - Axis2_Set_Input_Vel

• Name: Axis2_Set_Input_Vel
• Length: 8 bytes
• Sender: ['Master']

ID: 78 - Axis2_Set_Input_Torque

• Name: Axis2_Set_Input_Torque
• Length: 8 bytes
• Sender: ['Master']

ID: 79 - Axis2_Set_Limits

• Name: Axis2_Set_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 81 - Axis2_Set_Traj_Vel_Limit

• Name: Axis2_Set_Traj_Vel_Limit
• Length: 8 bytes
• Sender: ['Master']

ID: 82 - Axis2_Set_Traj_Accel_Limits

• Name: Axis2_Set_Traj_Accel_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 83 - Axis2_Set_Traj_Inertia

• Name: Axis2_Set_Traj_Inertia
• Length: 8 bytes
• Sender: ['Master']

ID: 84 - Axis2_Get_Iq

• Name: Axis2_Get_Iq
• Length: 8 bytes
• Sender: ['ODrive_Axis2']

ID: 85 - Axis2_Get_Temperature

• Name: Axis2_Get_Temperature
• Length: 8 bytes
• Sender: ['ODrive_Axis2']

ID: 86 - Axis2_Reboot

• Name: Axis2_Reboot
• Length: 1 bytes
• Sender: ['Master']

ID: 87 - Axis2_Get_Bus_Voltage_Current

• Name: Axis2_Get_Bus_Voltage_Current
• Length: 8 bytes
• Sender: ['ODrive_Axis2']

ID: 88 - Axis2_Clear_Errors

• Name: Axis2_Clear_Errors
• Length: 1 bytes
• Sender: ['Master']

ID: 89 - Axis2_Set_Absolute_Position

• Name: Axis2_Set_Absolute_Position
• Length: 8 bytes
• Sender: ['Master']

ID: 90 - Axis2_Set_Pos_Gain

• Name: Axis2_Set_Pos_Gain
• Length: 8 bytes
• Sender: ['Master']

ID: 91 - Axis2_Set_Vel_Gains

• Name: Axis2_Set_Vel_Gains
• Length: 8 bytes
• Sender: ['Master']

ID: 92 - Axis2_Get_Torques

• Name: Axis2_Get_Torques
• Length: 8 bytes
• Sender: ['ODrive_Axis2']

ID: 93 - Axis2_Get_Powers

• Name: Axis2_Get_Powers
• Length: 8 bytes
• Sender: ['ODrive_Axis2']

ID: 95 - Axis2_Enter_DFU_Mode

• Name: Axis2_Enter_DFU_Mode
• Length: 0 bytes
• Sender: ['Master']

ID: 96 - Axis3_Get_Version

• Name: Axis3_Get_Version
• Length: 8 bytes
• Sender: ['ODrive_Axis3']

ID: 97 - Axis3_Heartbeat

• Name: Axis3_Heartbeat
• Length: 8 bytes
• Sender: ['ODrive_Axis3']

ID: 98 - Axis3_Estop

• Name: Axis3_Estop
• Length: 0 bytes
• Sender: ['Master']

ID: 99 - Axis3_Get_Error

• Name: Axis3_Get_Error
• Length: 8 bytes
• Sender: ['ODrive_Axis3']

ID: 100 - Axis3_RxSdo

• Name: Axis3_RxSdo
• Length: 8 bytes
• Sender: ['Master']

ID: 101 - Axis3_TxSdo

• Name: Axis3_TxSdo
• Length: 8 bytes
• Sender: ['ODrive_Axis3']

ID: 102 - Axis3_Address

• Name: Axis3_Address
• Length: 8 bytes
• Sender: ['Master', 'ODrive_Axis3']

ID: 103 - Axis3_Set_Axis_State

• Name: Axis3_Set_Axis_State
• Length: 8 bytes
• Sender: ['Master']

ID: 105 - Axis3_Get_Encoder_Estimates

• Name: Axis3_Get_Encoder_Estimates
• Length: 8 bytes
• Sender: ['ODrive_Axis3']

ID: 107 - Axis3_Set_Controller_Mode

• Name: Axis3_Set_Controller_Mode
• Length: 8 bytes
• Sender: ['Master']

ID: 108 - Axis3_Set_Input_Pos

• Name: Axis3_Set_Input_Pos
• Length: 8 bytes
• Sender: ['Master']

ID: 109 - Axis3_Set_Input_Vel

• Name: Axis3_Set_Input_Vel
• Length: 8 bytes
• Sender: ['Master']

ID: 110 - Axis3_Set_Input_Torque

• Name: Axis3_Set_Input_Torque
• Length: 8 bytes
• Sender: ['Master']

ID: 111 - Axis3_Set_Limits

• Name: Axis3_Set_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 113 - Axis3_Set_Traj_Vel_Limit

• Name: Axis3_Set_Traj_Vel_Limit
• Length: 8 bytes
• Sender: ['Master']

ID: 114 - Axis3_Set_Traj_Accel_Limits

• Name: Axis3_Set_Traj_Accel_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 115 - Axis3_Set_Traj_Inertia

• Name: Axis3_Set_Traj_Inertia
• Length: 8 bytes
• Sender: ['Master']

ID: 116 - Axis3_Get_Iq

• Name: Axis3_Get_Iq
• Length: 8 bytes
• Sender: ['ODrive_Axis3']

ID: 117 - Axis3_Get_Temperature

• Name: Axis3_Get_Temperature
• Length: 8 bytes
• Sender: ['ODrive_Axis3']

ID: 118 - Axis3_Reboot

• Name: Axis3_Reboot
• Length: 1 bytes
• Sender: ['Master']

ID: 119 - Axis3_Get_Bus_Voltage_Current

• Name: Axis3_Get_Bus_Voltage_Current
• Length: 8 bytes
• Sender: ['ODrive_Axis3']

ID: 120 - Axis3_Clear_Errors

• Name: Axis3_Clear_Errors
• Length: 1 bytes
• Sender: ['Master']

ID: 121 - Axis3_Set_Absolute_Position

• Name: Axis3_Set_Absolute_Position
• Length: 8 bytes
• Sender: ['Master']

ID: 122 - Axis3_Set_Pos_Gain

• Name: Axis3_Set_Pos_Gain
• Length: 8 bytes
• Sender: ['Master']

ID: 123 - Axis3_Set_Vel_Gains

• Name: Axis3_Set_Vel_Gains
• Length: 8 bytes
• Sender: ['Master']

ID: 124 - Axis3_Get_Torques

• Name: Axis3_Get_Torques
• Length: 8 bytes
• Sender: ['ODrive_Axis3']

ID: 125 - Axis3_Get_Powers

• Name: Axis3_Get_Powers
• Length: 8 bytes
• Sender: ['ODrive_Axis3']

ID: 127 - Axis3_Enter_DFU_Mode

• Name: Axis3_Enter_DFU_Mode
• Length: 0 bytes
• Sender: ['Master']

ID: 128 - Axis4_Get_Version

• Name: Axis4_Get_Version
• Length: 8 bytes
• Sender: ['ODrive_Axis4']

ID: 129 - Axis4_Heartbeat

• Name: Axis4_Heartbeat
• Length: 8 bytes
• Sender: ['ODrive_Axis4']

ID: 130 - Axis4_Estop

• Name: Axis4_Estop
• Length: 0 bytes
• Sender: ['Master']

ID: 131 - Axis4_Get_Error

• Name: Axis4_Get_Error
• Length: 8 bytes
• Sender: ['ODrive_Axis4']

ID: 132 - Axis4_RxSdo

• Name: Axis4_RxSdo
• Length: 8 bytes
• Sender: ['Master']

ID: 133 - Axis4_TxSdo

• Name: Axis4_TxSdo
• Length: 8 bytes
• Sender: ['ODrive_Axis4']

ID: 134 - Axis4_Address

• Name: Axis4_Address
• Length: 8 bytes
• Sender: ['Master', 'ODrive_Axis4']

ID: 135 - Axis4_Set_Axis_State

• Name: Axis4_Set_Axis_State
• Length: 8 bytes
• Sender: ['Master']

ID: 137 - Axis4_Get_Encoder_Estimates

• Name: Axis4_Get_Encoder_Estimates
• Length: 8 bytes
• Sender: ['ODrive_Axis4']

ID: 139 - Axis4_Set_Controller_Mode

• Name: Axis4_Set_Controller_Mode
• Length: 8 bytes
• Sender: ['Master']

ID: 140 - Axis4_Set_Input_Pos

• Name: Axis4_Set_Input_Pos
• Length: 8 bytes
• Sender: ['Master']

ID: 141 - Axis4_Set_Input_Vel

• Name: Axis4_Set_Input_Vel
• Length: 8 bytes
• Sender: ['Master']

ID: 142 - Axis4_Set_Input_Torque

• Name: Axis4_Set_Input_Torque
• Length: 8 bytes
• Sender: ['Master']

ID: 143 - Axis4_Set_Limits

• Name: Axis4_Set_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 145 - Axis4_Set_Traj_Vel_Limit

• Name: Axis4_Set_Traj_Vel_Limit
• Length: 8 bytes
• Sender: ['Master']

ID: 146 - Axis4_Set_Traj_Accel_Limits

• Name: Axis4_Set_Traj_Accel_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 147 - Axis4_Set_Traj_Inertia

• Name: Axis4_Set_Traj_Inertia
• Length: 8 bytes
• Sender: ['Master']

ID: 148 - Axis4_Get_Iq

• Name: Axis4_Get_Iq
• Length: 8 bytes
• Sender: ['ODrive_Axis4']

ID: 149 - Axis4_Get_Temperature

• Name: Axis4_Get_Temperature
• Length: 8 bytes
• Sender: ['ODrive_Axis4']

ID: 150 - Axis4_Reboot

• Name: Axis4_Reboot
• Length: 1 bytes
• Sender: ['Master']

ID: 151 - Axis4_Get_Bus_Voltage_Current

• Name: Axis4_Get_Bus_Voltage_Current
• Length: 8 bytes
• Sender: ['ODrive_Axis4']

ID: 152 - Axis4_Clear_Errors

• Name: Axis4_Clear_Errors
• Length: 1 bytes
• Sender: ['Master']

ID: 153 - Axis4_Set_Absolute_Position

• Name: Axis4_Set_Absolute_Position
• Length: 8 bytes
• Sender: ['Master']

ID: 154 - Axis4_Set_Pos_Gain

• Name: Axis4_Set_Pos_Gain
• Length: 8 bytes
• Sender: ['Master']

ID: 155 - Axis4_Set_Vel_Gains

• Name: Axis4_Set_Vel_Gains
• Length: 8 bytes
• Sender: ['Master']

ID: 156 - Axis4_Get_Torques

• Name: Axis4_Get_Torques
• Length: 8 bytes
• Sender: ['ODrive_Axis4']

ID: 157 - Axis4_Get_Powers

• Name: Axis4_Get_Powers
• Length: 8 bytes
• Sender: ['ODrive_Axis4']

ID: 159 - Axis4_Enter_DFU_Mode

• Name: Axis4_Enter_DFU_Mode
• Length: 0 bytes
• Sender: ['Master']

ID: 160 - Axis5_Get_Version

• Name: Axis5_Get_Version
• Length: 8 bytes
• Sender: ['ODrive_Axis5']

ID: 161 - Axis5_Heartbeat

• Name: Axis5_Heartbeat
• Length: 8 bytes
• Sender: ['ODrive_Axis5']

ID: 162 - Axis5_Estop

• Name: Axis5_Estop
• Length: 0 bytes
• Sender: ['Master']

ID: 163 - Axis5_Get_Error

• Name: Axis5_Get_Error
• Length: 8 bytes
• Sender: ['ODrive_Axis5']

ID: 164 - Axis5_RxSdo

• Name: Axis5_RxSdo
• Length: 8 bytes
• Sender: ['Master']

ID: 165 - Axis5_TxSdo

• Name: Axis5_TxSdo
• Length: 8 bytes
• Sender: ['ODrive_Axis5']

ID: 166 - Axis5_Address

• Name: Axis5_Address
• Length: 8 bytes
• Sender: ['Master', 'ODrive_Axis5']

ID: 167 - Axis5_Set_Axis_State

• Name: Axis5_Set_Axis_State
• Length: 8 bytes
• Sender: ['Master']

ID: 169 - Axis5_Get_Encoder_Estimates

• Name: Axis5_Get_Encoder_Estimates
• Length: 8 bytes
• Sender: ['ODrive_Axis5']

ID: 171 - Axis5_Set_Controller_Mode

• Name: Axis5_Set_Controller_Mode
• Length: 8 bytes
• Sender: ['Master']

ID: 172 - Axis5_Set_Input_Pos

• Name: Axis5_Set_Input_Pos
• Length: 8 bytes
• Sender: ['Master']

ID: 173 - Axis5_Set_Input_Vel

• Name: Axis5_Set_Input_Vel
• Length: 8 bytes
• Sender: ['Master']

ID: 174 - Axis5_Set_Input_Torque

• Name: Axis5_Set_Input_Torque
• Length: 8 bytes
• Sender: ['Master']

ID: 175 - Axis5_Set_Limits

• Name: Axis5_Set_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 177 - Axis5_Set_Traj_Vel_Limit

• Name: Axis5_Set_Traj_Vel_Limit
• Length: 8 bytes
• Sender: ['Master']

ID: 178 - Axis5_Set_Traj_Accel_Limits

• Name: Axis5_Set_Traj_Accel_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 179 - Axis5_Set_Traj_Inertia

• Name: Axis5_Set_Traj_Inertia
• Length: 8 bytes
• Sender: ['Master']

ID: 180 - Axis5_Get_Iq

• Name: Axis5_Get_Iq
• Length: 8 bytes
• Sender: ['ODrive_Axis5']

ID: 181 - Axis5_Get_Temperature

• Name: Axis5_Get_Temperature
• Length: 8 bytes
• Sender: ['ODrive_Axis5']

ID: 182 - Axis5_Reboot

• Name: Axis5_Reboot
• Length: 1 bytes
• Sender: ['Master']

ID: 183 - Axis5_Get_Bus_Voltage_Current

• Name: Axis5_Get_Bus_Voltage_Current
• Length: 8 bytes
• Sender: ['ODrive_Axis5']

ID: 184 - Axis5_Clear_Errors

• Name: Axis5_Clear_Errors
• Length: 1 bytes
• Sender: ['Master']

ID: 185 - Axis5_Set_Absolute_Position

• Name: Axis5_Set_Absolute_Position
• Length: 8 bytes
• Sender: ['Master']

ID: 186 - Axis5_Set_Pos_Gain

• Name: Axis5_Set_Pos_Gain
• Length: 8 bytes
• Sender: ['Master']

ID: 187 - Axis5_Set_Vel_Gains

• Name: Axis5_Set_Vel_Gains
• Length: 8 bytes
• Sender: ['Master']

ID: 188 - Axis5_Get_Torques

• Name: Axis5_Get_Torques
• Length: 8 bytes
• Sender: ['ODrive_Axis5']

ID: 189 - Axis5_Get_Powers

• Name: Axis5_Get_Powers
• Length: 8 bytes
• Sender: ['ODrive_Axis5']

ID: 191 - Axis5_Enter_DFU_Mode

• Name: Axis5_Enter_DFU_Mode
• Length: 0 bytes
• Sender: ['Master']

ID: 192 - Axis6_Get_Version

• Name: Axis6_Get_Version
• Length: 8 bytes
• Sender: ['ODrive_Axis6']

ID: 193 - Axis6_Heartbeat

• Name: Axis6_Heartbeat
• Length: 8 bytes
• Sender: ['ODrive_Axis6']

ID: 194 - Axis6_Estop

• Name: Axis6_Estop
• Length: 0 bytes
• Sender: ['Master']

ID: 195 - Axis6_Get_Error

• Name: Axis6_Get_Error
• Length: 8 bytes
• Sender: ['ODrive_Axis6']

ID: 196 - Axis6_RxSdo

• Name: Axis6_RxSdo
• Length: 8 bytes
• Sender: ['Master']

ID: 197 - Axis6_TxSdo

• Name: Axis6_TxSdo
• Length: 8 bytes
• Sender: ['ODrive_Axis6']

ID: 198 - Axis6_Address

• Name: Axis6_Address
• Length: 8 bytes
• Sender: ['Master', 'ODrive_Axis6']

ID: 199 - Axis6_Set_Axis_State

• Name: Axis6_Set_Axis_State
• Length: 8 bytes
• Sender: ['Master']

ID: 201 - Axis6_Get_Encoder_Estimates

• Name: Axis6_Get_Encoder_Estimates
• Length: 8 bytes
• Sender: ['ODrive_Axis6']

ID: 203 - Axis6_Set_Controller_Mode

• Name: Axis6_Set_Controller_Mode
• Length: 8 bytes
• Sender: ['Master']

ID: 204 - Axis6_Set_Input_Pos

• Name: Axis6_Set_Input_Pos
• Length: 8 bytes
• Sender: ['Master']

ID: 205 - Axis6_Set_Input_Vel

• Name: Axis6_Set_Input_Vel
• Length: 8 bytes
• Sender: ['Master']

ID: 206 - Axis6_Set_Input_Torque

• Name: Axis6_Set_Input_Torque
• Length: 8 bytes
• Sender: ['Master']

ID: 207 - Axis6_Set_Limits

• Name: Axis6_Set_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 209 - Axis6_Set_Traj_Vel_Limit

• Name: Axis6_Set_Traj_Vel_Limit
• Length: 8 bytes
• Sender: ['Master']

ID: 210 - Axis6_Set_Traj_Accel_Limits

• Name: Axis6_Set_Traj_Accel_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 211 - Axis6_Set_Traj_Inertia

• Name: Axis6_Set_Traj_Inertia
• Length: 8 bytes
• Sender: ['Master']

ID: 212 - Axis6_Get_Iq

• Name: Axis6_Get_Iq
• Length: 8 bytes
• Sender: ['ODrive_Axis6']

ID: 213 - Axis6_Get_Temperature

• Name: Axis6_Get_Temperature
• Length: 8 bytes
• Sender: ['ODrive_Axis6']

ID: 214 - Axis6_Reboot

• Name: Axis6_Reboot
• Length: 1 bytes
• Sender: ['Master']

ID: 215 - Axis6_Get_Bus_Voltage_Current

• Name: Axis6_Get_Bus_Voltage_Current
• Length: 8 bytes
• Sender: ['ODrive_Axis6']

ID: 216 - Axis6_Clear_Errors

• Name: Axis6_Clear_Errors
• Length: 1 bytes
• Sender: ['Master']

ID: 217 - Axis6_Set_Absolute_Position

• Name: Axis6_Set_Absolute_Position
• Length: 8 bytes
• Sender: ['Master']

ID: 218 - Axis6_Set_Pos_Gain

• Name: Axis6_Set_Pos_Gain
• Length: 8 bytes
• Sender: ['Master']

ID: 219 - Axis6_Set_Vel_Gains

• Name: Axis6_Set_Vel_Gains
• Length: 8 bytes
• Sender: ['Master']

ID: 220 - Axis6_Get_Torques

• Name: Axis6_Get_Torques
• Length: 8 bytes
• Sender: ['ODrive_Axis6']

ID: 221 - Axis6_Get_Powers

• Name: Axis6_Get_Powers
• Length: 8 bytes
• Sender: ['ODrive_Axis6']

ID: 223 - Axis6_Enter_DFU_Mode

• Name: Axis6_Enter_DFU_Mode
• Length: 0 bytes
• Sender: ['Master']

ID: 224 - Axis7_Get_Version

• Name: Axis7_Get_Version
• Length: 8 bytes
• Sender: ['ODrive_Axis7']

ID: 225 - Axis7_Heartbeat

• Name: Axis7_Heartbeat
• Length: 8 bytes
• Sender: ['ODrive_Axis7']

ID: 226 - Axis7_Estop

• Name: Axis7_Estop
• Length: 0 bytes
• Sender: ['Master']

ID: 227 - Axis7_Get_Error

• Name: Axis7_Get_Error
• Length: 8 bytes
• Sender: ['ODrive_Axis7']

ID: 228 - Axis7_RxSdo

• Name: Axis7_RxSdo
• Length: 8 bytes
• Sender: ['Master']

ID: 229 - Axis7_TxSdo

• Name: Axis7_TxSdo
• Length: 8 bytes
• Sender: ['ODrive_Axis7']

ID: 230 - Axis7_Address

• Name: Axis7_Address
• Length: 8 bytes
• Sender: ['Master', 'ODrive_Axis7']

ID: 231 - Axis7_Set_Axis_State

• Name: Axis7_Set_Axis_State
• Length: 8 bytes
• Sender: ['Master']

ID: 233 - Axis7_Get_Encoder_Estimates

• Name: Axis7_Get_Encoder_Estimates
• Length: 8 bytes
• Sender: ['ODrive_Axis7']

ID: 235 - Axis7_Set_Controller_Mode

• Name: Axis7_Set_Controller_Mode
• Length: 8 bytes
• Sender: ['Master']

ID: 236 - Axis7_Set_Input_Pos

• Name: Axis7_Set_Input_Pos
• Length: 8 bytes
• Sender: ['Master']

ID: 237 - Axis7_Set_Input_Vel

• Name: Axis7_Set_Input_Vel
• Length: 8 bytes
• Sender: ['Master']

ID: 238 - Axis7_Set_Input_Torque

• Name: Axis7_Set_Input_Torque
• Length: 8 bytes
• Sender: ['Master']

ID: 239 - Axis7_Set_Limits

• Name: Axis7_Set_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 241 - Axis7_Set_Traj_Vel_Limit

• Name: Axis7_Set_Traj_Vel_Limit
• Length: 8 bytes
• Sender: ['Master']

ID: 242 - Axis7_Set_Traj_Accel_Limits

• Name: Axis7_Set_Traj_Accel_Limits
• Length: 8 bytes
• Sender: ['Master']

ID: 243 - Axis7_Set_Traj_Inertia

• Name: Axis7_Set_Traj_Inertia
• Length: 8 bytes
• Sender: ['Master']

ID: 244 - Axis7_Get_Iq

• Name: Axis7_Get_Iq
• Length: 8 bytes
• Sender: ['ODrive_Axis7']

ID: 245 - Axis7_Get_Temperature

• Name: Axis7_Get_Temperature
• Length: 8 bytes
• Sender: ['ODrive_Axis7']

ID: 246 - Axis7_Reboot

• Name: Axis7_Reboot
• Length: 1 bytes
• Sender: ['Master']

ID: 247 - Axis7_Get_Bus_Voltage_Current

• Name: Axis7_Get_Bus_Voltage_Current
• Length: 8 bytes
• Sender: ['ODrive_Axis7']

ID: 248 - Axis7_Clear_Errors

• Name: Axis7_Clear_Errors
• Length: 1 bytes
• Sender: ['Master']

ID: 249 - Axis7_Set_Absolute_Position

• Name: Axis7_Set_Absolute_Position
• Length: 8 bytes
• Sender: ['Master']

ID: 250 - Axis7_Set_Pos_Gain

• Name: Axis7_Set_Pos_Gain
• Length: 8 bytes
• Sender: ['Master']

ID: 251 - Axis7_Set_Vel_Gains

• Name: Axis7_Set_Vel_Gains
• Length: 8 bytes
• Sender: ['Master']

ID: 252 - Axis7_Get_Torques

• Name: Axis7_Get_Torques
• Length: 8 bytes
• Sender: ['ODrive_Axis7']

ID: 253 - Axis7_Get_Powers

• Name: Axis7_Get_Powers
• Length: 8 bytes
• Sender: ['ODrive_Axis7']

ID: 255 - Axis7_Enter_DFU_Mode

• Name: Axis7_Enter_DFU_Mode
• Length: 0 bytes
• Sender: ['Master']