KDE Direct KDE-UAS40UVC, Manual

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REV 1.0.8 (Last Modified March 1, 2021)
30 | 30 R E V 1 . 0 . 8
For CAN bus throttle control to work, the ESC expects throttle messages to be sent in 20-2ms intervals to
achieve 50-500Hz. This is required because the frequency directly effects the acceleration rate.
Next, connect the ESC to a motor, CAN bus master (device sending messages), and connect the ESC to a LiPo
battery or power supply. After connecting the ESC to power and the motor, the motor will start beeping
(indicating it is awaiting an arming signal).
You can then send a CAN message to arm the motor:
Frame ID: (ESC ID2 throttle)
Data: (arming pulse 1100µs)
00000201 044c000000000000
Upon receiving an arming frame, the beeping will stop. At this point the ESC may not have completed arming.
The ESC requires additional arming messages (for a few seconds) to complete its arming procedure. For
example, you can arm the motor by sending 600 arming messages at 5ms (200Hz). The motor will start
beeping to indicate the number of cells for the LiPo battery / voltage connected.
You can then send CAN messages to spin the motor:
Frame ID: (ESC ID2 throttle)
Data: (spinning pulse 1175µs)
00000201 0497000000000000
The CAN frames to spin the motor should also be sent at 20-2ms, 600 messages are a good amount to start
with. An example is provided
here .
Additional information:
•
Using lower baud rates may result in data loss, for example:
A transmission frame is (64 bits + 16 bits data for throttle) * 400 hz * 4 ESCs = 128,000 bps.
At 100k baud, data would be lost in this example. This is also assuming you are only using 1 bus.
Lowering the frequency or increasing the baud rate would solve this problem.
•
For CAN bus, the microseconds (µs) represents the throttle.
For throttle calibration RANGE, 1100us represents 0% and 1940us represents 100%.
You can easily convert the percentage throttle to microseconds and vice versa with the formulas
below:
Output throttle = 1100 + 8.4 * percentage
example: 1100 + 8.4 * 50 = 1520µs
Percentage = (output throttle - 1100) / 8.4 example: (1520 - 1100) / 8.4 = 50%