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REV 1.0.8 (Last Modified March 1, 2021)

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R E V 1 . 0 . 8

11: Get Voltage, Current, RPM, and Temperature, Warning

MASTER to ESC:

Priority

Source
Address

Destination

Address

Object

Address

0x00

0x02

0x0B

ESC to MASTER(Answer)

Extended Frame ID

Data

Priority

Source
Address

Destination

Address

Object

Address

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

0x00

0x02

0x00

0x0B

RPM0

RPM1

TEMP0

WARN0

Example:

Message
Transmission:

Frame ID:

Data:

Data Decimal Equivalent:

Data Description:

Master to ESC:

00 00 01 0b

00 00 00 00 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 A
(528 * 60 * 2 / 22) = 2,880 rpm
31 deg Cel
No Warning Messages

32: Turn off ESC (Shut down MOSFET channels)

MASTER to ESC:

Priority

Source
Address

Destination

Address

Object

Address

0x00

0x02

0x20

ESC to MASTER(Answer)

Extended Frame ID

Data

Priority

Source
Address

Destination

Address

Object

Address

Byte0

0x00

0x02

0x00

0x20

0x01

Example:

Message
Transmission:

Frame ID:

Data:

Data Decimal Equivalent:

Data Description:

Master to ESC:

00 00 02 20

00 00 00 00 00 00 00 00

ESC to Master:

00 02 00 20

Immediately turn off ESC controls

Содержание KDE-UAS40UVC

Страница 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 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 ha...

Страница 2: ...MENT 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 BY OR PROVIDED BY THE KDECAN PROTOCOL SOFTWARE WILL MEET YOUR REQUIREMENTS THAT THE OPERATION OF THE KDECAN PROTOCOL SOFTWARE WILL BE UNINTERRUPTED OR ERROR FREE THAT ANY PERFORMANCE OF THE KDECAN ...

Страница 3: ... indemnify 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 arising out of any breach of this Agreement by you 9 Termination This License is effective until terminated Your rights under this License will terminate automatically or otherwise cease to be effective ...

Страница 4: ... the 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 of Figures 5 KDECAN Capabilities 6 CAN Bus Protocol 6 System Configuration 6 KDE UVC Pinout Schematic 6 Wiring Schematic 8 ID Assignment 8 Method 1 Manual ID Assignment 9 Method 2 ESC Enumeration 10...

Страница 5: ...AN 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 example 11 Figure 8 CAN Bus frame 13 Figure 9 CAN bus frame example 13 Figure 10 CAN Bus Message Table 15 Figure 11 Warning Messages 25 ...

Страница 6: ...ps 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 D460115_0404 KDE Device Manager minimum version required KDEDevice V134 1 Default CAN master ID 0x00 Default ESC ID 0x01 System Configuration To configure the CAN bus network the system must be correctly ...

Страница 7: ...lease 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 CAN bus ports Wire kits can be found here Figure 2 ESC to ESC CAN bus connection ...

Страница 8: ... internally 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 has an ID of 0x01 and the master flight controller or CAN bus analyzer has an ID of 0x00 This ESC ID is a unique ID used for identifying different ESCs on the CAN BUS network Each ESC ID must be assi...

Страница 9: ...Assignment 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 desired ID and press the SEND SETTINGS button Figure 5 ESC Unique ID Assignment ...

Страница 10: ...rent nodes to transmit CAN frames with different data field values under the same ID The ESC Enumeration message violates this constraint as all ESCs share the same ESC ID of 1 To work around this problem KDECAN dynamically changes the extended frame ID of enumeration messages The source and destination in the extended frame ID field is filled with an auto incrementing value every 2ms This approac...

Страница 11: ...5D 27 57 16 20 33 33 37 ESC to Master receive Motor connected to ESC C is rotated Frame ID 00 0B 22 0A Data 7C 32 57 13 20 33 33 37 Master to ESC send Set ESC A to ESC ID 2 Frame ID 00 00 02 09 Data FB C1 57 15 20 33 33 37 Master to ESC send Set ESC B to ESC ID 3 Frame ID 00 00 03 09 Data 5D 27 57 16 20 33 33 37 Master to ESC send Set ESC C to ESC ID 4 Frame ID 00 00 04 09 Data 7C 32 57 13 20 33 3...

Страница 12: ...9 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 7 0 0xFFFFFFFFFFFFFFFF CRC Algorithm The error management as described in the CAN protocol is handled entirely by hardware using a Transmit Error Counter TEC value in CAN_ESR register and a Receive...

Страница 13: ...bits 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 Priority Source Address Destination Address Object Address Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x00 0x02 0x00 0x08 MCU ID0 MCU ID1 MCU ID2 MCU ID3 MCU ID4 MCU ID5 MCU ID6 MCU ID7 Figure 9 C...

Страница 14: ...ased 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 01 00 46 ESC ID 2 responds with its FW and HW ver Master to ESC Bin 0 00011 01000 Hex 0x068 Query MCU ID obj 8 ESC to Master Bin 1 00011 01000 Hex 0x468 99 70 57 17 20 33 33 37 ESC ID 2 responds wit...

Страница 15: ... to 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 1 Receive ESC MCU Temperature C 10 Hz 100 ms to 500 Hz 2 ms 6 0 No data ESC s Input Throttle 2 Receive ESC Input Throttle 0 2200μs 10 Hz 100 ms to 500 Hz 2 ms 7 0 No data ESC s Output Throttle 1 Re...

Страница 16: ...ESC 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 Data Priority Source Address Destination Address Object Address Byte0 Byte1 0x00 0x00 0x02 0x01 0 0x08 0 0x98 ESC TO MASTER Answer Extended Frame ID Priority Source Address Destination Address Objec...

Страница 17: ...02 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 Address 0x00 0x00 0x02 0x03 ESC TO MASTER Answer Extended Frame ID Data Priority Source Address Destination Address Object Address Byte0 Byte1 0x00 0x02 0x00 0x03 C0 C1 Example Message Transmission...

Страница 18: ...tor 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 Get Temperature U8 MASTER TO ESC Extended Frame ID Priority Source Address Destination Address Object Address 0x00 0x00 0x02 0x05 ESC TO MASTER Answer Extended Frame ID Data Priority Source Address De...

Страница 19: ...C 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 Equivalent Data Description Master to ESC 00 00 02 06 00 00 00 00 00 00 00 00 ESC to Master 00 02 00 06 05 1C 1308 1308 μs 05 E6 1510 1510 μs 06 B2 1714 1714 μs 07 7D 1914 1914 μs 08 4B 2123 2123 μs ...

Страница 20: ... 02 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 Frame ID Data Priority Source Address Destination Address Object Address Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x00 0x02 0x00 0x08 MCU ID0 MCU ID1 MCU ID2 MCU ID3 MCU ID4 MCU ID5 MCU ID6 M...

Страница 21: ... 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 Byte1 0x00 0x00 0x01 0x0A 0 0xFF 0 0xFF ESC to MASTER Answer Extended Frame ID Data Priority Source Address Destination Address Object Address Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x00 0x02 0x...

Страница 22: ... 00 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 A 528 60 2 22 2 880 rpm 31 deg Cel No Warning Messages 32 Turn off ESC Shut down MOSFET channels MASTER to ESC Priority Source Address Destination Address Object Address 0x00 0x00 0x02 0x20 ESC to M...

Страница 23: ... ESC 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 Address Destination Address Object Address 0x00 0x00 0x02 0x22 ESC to MASTER Answer Extended Frame ID Data Priority Source Address Destination Address Object Address Byte0 0x00 0x02 0x00 0x22 0x00 Ex...

Страница 24: ...lating 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 If multiple errors occur the number that appears will be the summation For example if Stall Protection Temperature Protection and Overload Protection occur the error code will be 7 For more informat...

Страница 25: ...ecimal 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 Overload Protection Binary 0010 0100 Decimal 36 Binary 0001 0100 Decimal 20 Binary 0000 1100 Decimal 12 Binary 0000 0100 Decimal 4 Binary 0000 0110 Decimal 6 Binary 0000 0101 Decimal 5 Bit 1 Temp Pro...

Страница 26: ...troller 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 do I test that all CAN bus connections are wired properly To detect all ECSs on network send a CAN message to frame id 00 00 01 08 All ESCs will respond with their MCU ID regardless of their ESC ID Do...

Страница 27: ...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 change the data sent back within the CAN message I m only getting 1 CAN message back from 2 ESCs what am I doing wrong Check the ESC IDs to ensure they are not the same If both ESCs have the same CAN ID and send the same data ...

Страница 28: ...b 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 sending CAN bus messages The ESC will only reply to messages where the destination byte is the ESCs node ID or messages that are broadcasted To use KDECAN the ESC must be operating on firmware versi...

Страница 29: ...t will use CAN bus But arming off of CAN bus alone is disabled When KDECAN Control is set to CAN bus Primary throttle control is done through CAN bus arming and full throttle control will work through KDECAN Initial Setup First we recommend updating the UVC ESC firmware to D460224 dfu or above and use KDE Device Manager V1 36 1 or above To update the ESC firmware press the Update Firmware button a...

Страница 30: ... 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 in...

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