CMD ID,Name,Sender,Signals,Start byte,Signal Type,Bits,Factor,Offset
0x000,CANOpen NMT Message**,Master,-,-,-,-,-,-
0x001,ODrive Heartbeat Message,Axis,"Axis Error
Axis Current State
Motor Error Flag
Encoder Error Flag
Controller Error Flag
Trajectory Done Flag","0
4
5.0
6.0
7.0
7.7","Unsigned Int
Unsigned Int
Unsigned Int
Unsigned Int
Unsigned Int
Unsigned Int","32
8
1
1
1
1","-
-
-
-
-
-","-
-
-
-
-
-"
0x002,ODrive Estop Message,Master,-,-,-,-,-,-
0x003,Get Motor Error*,Axis,Motor Error,0,Unsigned Int,64,1,0
0x004,Get Encoder Error*,Axis,Encoder Error,0,Unsigned Int,32,1,0
0x005,Get Sensorless Error*,Axis,Sensorless Error,0,Unsigned Int,32,1,0
0x006,Set Axis Node ID,Master,Axis CAN Node ID,0,Unsigned Int,32,1,0
0x007,Set Axis Requested State,Master,Axis Requested State,0,Unsigned Int,32,1,0
0x008,Set Axis Startup Config,Master,- Not yet implemented -,-,-,-,-,-
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"
0x00A,Get Encoder Count*,Master,"Encoder Shadow Count
Encoder Count in CPR","0
4","Signed Int
Signed Int","32
32","1
1","0
0"
0x00B,Set Controller Modes,Master,"Control Mode
Input Mode","0
4","Signed Int
Signed Int","32
32","1
1","0
0"
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"
0x00D,Set Input Vel,Master,"Input Vel
Torque FF","0
4","IEEE 754 Float
IEEE 754 Float","32
32","1
1","0
0"
0x00E,Set Input Torque,Master,Input Torque,0,IEEE 754 Float,32,1,0
0x00F,Set Limits,Master,"Velocity Limit
Current Limit","0
4","IEEE 754 Float
IEEE 754 Float",32,"1
1","0
0"
0x010,Start Anticogging,Master,-,-,-,-,-,-
0x011,Set Traj Vel Limit,Master,Traj Vel Limit,0,IEEE 754 Float,32,1,0
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"
0x013,Set Traj Inertia,Master,Traj Inertia,0,IEEE 754 Float,32,1,0
0x014,Get IQ*,Axis,"Iq Setpoint
Iq Measured","0
4","IEEE 754 Float
IEEE 754 Float","32
32","1
1","0
0"
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"
0x016,Reboot ODrive,Master***,-,-,-,-,-,-
0x017,Get Bus Voltage and Current,Master***,"Bus Voltage
Bus Current","0
4","IEEE 754 Float
IEEE 754 Float","32
32","1
1","0
0"
0x018,Clear Errors,Master,-,-,-,-,-,-
0x019,Set Linear Count,Master,Position,0,Signed Int,32,1,0
0x01A,Set Position Gain,Master,Pos Gain,0,IEEE 754 Float,32,1,0
0x01B,Set Vel Gains,Master,"Vel Gain
Vel Integrator Gain","0
4","IEEE 754 Float
IEEE 754 Float","32
32","1
1","0
0"
0x01C,Get ADC Voltage****,Master***,ADC Voltage,0,IEEE 754 Float,32,1,0
0x01D,Get Controller Error*,Axis,Controller Error,0,Unsigned Int,32,1,0
0x700,CANOpen Heartbeat Message**,Slave,-,-,-,-,-,-