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REV 1.1.1 (Last Modified May 25, 2023) 

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R E V 1 . 1 . 1

 

 

 
KDE Direct, LLC. License Agreement 

PLEASE READ THIS LICENSE AND MANUAL IN THEIR ENTIRETY BEFORE USING THE KDE UVC SERIES ESC AND/OR KDECAN PROTOCOL.  
BY  USING  THE  KDE  UVC  SERIES  ESC  AND/OR  KDECAN  PROTOCOL,  YOU  ARE  ACKNOWLEDGING  THAT  YOU  HAVE  READ  AND 
UNDERSTOOD THE CONTENT, INCLUDING ALL WARNINGS AND DISCLAIMERS CONTAINED HEREIN.  YOU FURTHER ACKNOWLEDGE 

THAT YOU HAVE READ AND UNDERSTOOD ALL KDE POLICIES REFERRED TO IN THE MANUAL, INCLUDING KDE’S LIABILITY POLICY 

AVAILABLE A

http://www.kdedirect.com/pages/liability-policy

 IF YOU DO NOT UNDERSTAND ANY OF THE WARNINGS AND/OR 

DISCLAIMERS, DO NOT USE THE KDE UVC SERIES ESC AND/OR KDECAN PROTOCOL.  

KDE DIRECT RESERVES THE RIGHT TO CHANGE OR MODIFY THE TERMS OF THE LICENSE AND MANUAL AT ANY TIME WITHOUT PRIOR 
NOTICE.  

1. General.  

The KDECAN Protocol Software (defined herein) is designed to enable functionality between KDE UVC Series ESC to your 

third party controllers.  This document provides general recommendations to enable functionality between the KDE UVC Series ESC 
and your third party controller.   

As detailed below, KDE Direct, LLC. (“KDE Direct”) does not manufacture this third party product and therefore does not suppo

rt or 

warranty the safety, use, functionality or compatibility of any third party controllers.  Any information as to a third party controller is 
provided solely as a reference.  Please refer to documentation accompanying your third party controller and any updates issued by 
the third party controller manufacturer for best practices and/or other information related to the safety, use, functionality or capability 
of your controller.   

2. 

Intellectual  Property.

    The  KDECAN  Protocol  Software,  documentation,  images,  content,  interfaces,  fonts  and  any  other  data 

accompanying this License whether pre-installed on the KDE UVC Series ESC hardware, on disk, in read only memory, on any other 

media or in any other form (“KDECAN Protocol Software”) are licensed, not sold, to you by KDE Direct

 for use only under the terms of 

this License.  KDE Direct retains ownership of the KDECAN Protocol Software itself and reserve all rights not expressly granted to you.  
The  terms  of  this  License  will  govern  any  software  upgrades  provided  by  KDE  Direct  that  replace  and/or  supplement  the  original 
KDECAN Protocol Software, unless such upgrade is accompanied by a separate license in which case the terms of that license will 
govern. 

Title and intellectual property rights in and to any content displayed by or hardware accessed through the KDECAN Protocol Software 
belongs to the respective owner.  Such content or hardware may be protected by copyright or other intellectual property laws  and 
treaties, and may be subject to terms of use of the third party providing such content.  This License does not grant you any rights to 
use such content or hardware nor does it guarantee that such content or hardware will continue to be available to you.  

3. 

License Uses and Restrictions.   

The Software is licensed to you and not sold.  Subject to the terms of this Agreement, KDE DIRECT 

hereby grants you a personal, non-exclusive, non-transferable, non-sublicensable, and revocable license to use the Software solely in 
connection with the related program output for which the software was designed, specifically, with third party controllers. 
You acknowledge that the Software is protected intellectual property and KDE DIRECT reserves all such rights with respect to  the 
Software, except for the license expressly granted to you in this Agreement.  Except for such express license, no right, title, interest or 
license in or to the Software, whether by implication, estoppel or otherwise, is granted, assigned or transferred to you.  You agree not 
to take any action that interferes, in any ma

nner, with KDE DIRECT or any of its authorized licensor’s rights with respect to the Software.  

In addition, title, ownership rights and intellectual property rights in and to any content accessed through the Software is the property 
of the applicable content owner and may be protected by applicable copyright, patent, trademark or other law.  This Agreement gives 
you no rights to such content. 

You acknowledge and agree that you will not: (a) reproduce the Software; (b) modify, adapt, translate or create any derivative works 
of the Software; (c) attempt to circumvent or disable the Software or any technology features or measures in the Software by  any 

Summary of Contents for KDECAN Protocol KDE-UAS125UVC-HE

Page 1: ...itself and reserve all rights not expressly granted to you The terms of this License will govern any software upgrades provided by KDE Direct that replace and or supplement the original KDECAN Protoco...

Page 2: ...NT AND NON INFRINGEMENT OF THIRD PARTY RIGHTS KDE DIRECT DOES NOT WARRANT AGAINST INTERFERENCE WITH YOUR ENJOYMENT OF THE KDECAN PROTOCOL SOFTWARE THAT THE FUNCTIONS CONTAINED IN OR SERVICES PERFORMED...

Page 3: ...ndemnify defend and hold KDE DIRECT and its authorized licensors harmless from and against any and all liabilities damages claims fines and expenses including reasonable attorneys fees and costs arisi...

Page 4: ...he ESC responds accordingly This document defines the message structure and protocol necessary to communicate with UVC ESCs through CAN bus Contents KDE Direct LLC License Agreement 1 Overview 4 List...

Page 5: ...bus connection 7 Figure 3 Example CAN bus network 8 Figure 4 KDE Direct Device Manager download link 9 Figure 5 ESC Unique ID Assignment 9 Figure 6 Updated ESC ID 10 Figure 7 ESC ID assignment exampl...

Page 6: ...Frame Format Extended Frame Format CAN 2 0B 29 bit identifier or Standard Frame Format CAN 2 0A 11 bit identifier Endianness Big Endian KDE ESC series UVC ESC minimum firmware version required D46011...

Page 7: ...ease refer to the picture shown below Figure 1 CAN bus port configuration Connect multiple ESCs together following the wire setup shown below To connect additional ESCs simply connect the two closest...

Page 8: ...nternally developed can incorporate the KDECAN protocol Figure 3 Example CAN bus network Note 3 3V CAN transceivers are fully interoperable with 5V CAN transceivers ID Assignment By default each ESC h...

Page 9: ...ssignment Figure 4 KDE Direct Device Manager download link The ESC ID can be set in the KDE Device Manager through the ESC ID CAN selection To set the ESC ID press the FIXED checkbox select the desire...

Page 10: ...sages having nonunique IDs Direction Description CAN Message Frame and Data Master to ESC send Start ESC Enumeration Rotated motors return ESC MCU Frame ID 00 00 01 0A Data 27 10 ESC to Master receive...

Page 11: ...A F U8 Unsigned char 0 0xFF U16 Unsigned short High byte byte 0 Low byte byte 1 0 0xFFFF U32 Unsigned int High byte byte 0 Low byte byte 3 0 0xFFFFFFFF U64 Unsigned long High byte byte 0 Low byte byte...

Page 12: ...its for the source id sender 8 bits for the destination id receiver and 8 bits for the object address which tells the ESC how to respond to the message Figure 8 CAN Bus frame Extended Frame ID Data Pr...

Page 13: ...ed on the received CAN bus message Example Direction Standard Frame ID Data Description Master to ESC Bin 0 00010 00000 Hex 0x040 Query FW and HW obj 0 ESC to Master Bin 1 00010 00000 Hex 0x440 0C 00...

Page 14: ...o 500 Hz 2 ms 3 0 No data ESC s Current 2 Receive ESC Input Current A 10 Hz 100 ms to 500 Hz 2 ms 4 0 No data ESC s RPM 2 Receive ESC eRPM rpm 10 Hz 100 ms to 500 Hz 2 ms 5 0 No data ESC s Temperature...

Page 15: ...SC 00 00 02 00 00 00 00 00 00 00 00 00 Master sends request ESC to Master 00 02 00 00 0C 00 01 00 46 ESC replies with firmware 0x 0C 00 and hardware 01 00 1 Set PWM U16 MASTER TO ESC Extended Frame ID...

Page 16: ...00 00 00 00 00 00 00 00 Requests ESC voltage ESC to Master 00 02 00 02 06 2D 1581 1581 100 15 81 V 3 Get Current U16 MASTER TO ESC Extended Frame ID Priority Source Address Destination Address Object...

Page 17: ...or poles Master to ESC 00 00 02 04 00 00 00 00 00 00 00 00 ESC to Master 00 02 00 04 01 DD 477 477 60 2 22 2 601 rpm 02 61 609 3 321 rpm 02 94 660 3 600 rpm 02 EF 751 4 096 rpm 02 FA 762 4 156 rpm 5 G...

Page 18: ...SC TO MASTER Answer Extended Frame ID Data Priority Source Address Destination Address Object Address Byte0 Byte1 0x00 0x02 0x00 0x06 IT0 IT1 Example Message Transmission Frame ID Data Data Decimal Eq...

Page 19: ...2 4C 76 76 02 61 97 97 02 64 100 100 8 Get All MCU IDs U64 MASTER TO ESC Extended Frame ID Priority Source Address Destination Address Object Address 0x00 0x00 0x01 0x08 ESC TO MASTER Answer Extended...

Page 20: ...57 18 20 33 33 37 ESC to Master 00 02 00 09 02 The ESC responds with 2 its new node address 10 Start ESC Enumeration MASTER to ESC Priority Source Address Destination Address Object Address Byte0 Byte...

Page 21: ...0 00 00 00 00 Broadcast Enum message for 10 000 msec ESC to Master 00 01 00 0b 05 E1 00 95 02 10 1F 00 05 E1 represents 1505 00 95 represents 149 02 10 represents 528 1F represents 31 00 15 05 V 1 49...

Page 22: ...SC 00 00 02 21 00 00 00 00 00 00 00 00 ESC to Master 00 02 00 21 01 Restart the ESC controls and re enable arming and throttle control 34 Get Warning Signals and Errors MASTER to ESC Priority Source A...

Page 23: ...ating bit will be set Stall Protection BIT 0 DEC 1 Over Temperature BIT 1 DEC 2 Overload Protection BIT 2 DEC 4 Over Voltage BIT 3 DEC 8 Low Voltage BIT 4 DEC 16 Voltage Cutoff if enabled BIT 5 DEC 32...

Page 24: ...imal 17 Bit 3 Over Voltage Binary 0010 1000 Decimal 40 Binary 0001 1000 Decimal 24 Binary 0000 1000 Decimal 8 Binary 0000 1100 Decimal 12 Binary 0000 1010 Decimal 10 Binary 0000 1001 Decimal 9 Bit 2 O...

Page 25: ...roller but can also be a CAN Bus analyzer or sniffer What is the MCU ID The microcontroller unit the UVC series ESCs use is a STM32 CPU Each MCU has a unique identifier referred to as the MCU ID How d...

Page 26: ...with different data If they reply with the same data you will only see one message To avoid this set the ESCs to have different CAN IDs through the KDE Device Manager or through ESC Enumeration or cha...

Page 27: ...s by default The ESC must be connected to a power supply or LiPo battery Make sure USB is disconnected Try power cycling disconnect and reconnect LiPo battery The ESC is correctly wired to the device...

Page 28: ...ugh CAN bus arming and full throttle control will work through KDECAN If the throttle control lead white red black wire is connected it will be used as a backup Initial Setup First we recommend updati...

Page 29: ...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 Dat...

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