REV 1.1.1 (Last Modified May 25, 2023)
10 | 29
R E V 1 . 1 . 1
•
The ESC ID will be updated (displayed at the top of the Device Manager window).
•
If the ID
displayed is “
---
” then
the ID is uninitialized and uses
“
1
”
as its ID.
•
The MCU ID represents the unique ID of the STM32 CPU in the ESC.
Figure 6: Updated ESC ID
Method 2 (ESC Enumeration)
The ESC enumeration message allows the master to assign the CAN bus ESC ID. This works by having the user
manually rotate the motors (1/2 turn) which are connected to the ESCs. Once the master receives the MCU
IDs, it can then send a message to set the ESC IDs in the order the motors were rotated. The source and
destination bits in the extended frame ID of an ESC enumeration message is filled with a unique number so
that a CAN bus error won’t occur from messages 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) Motor connected to ESC A is rotated
Frame ID: 00 05 17 0A
Data: FB C1 57 15 20 33 33 37
ESC to Master (receive) Motor connected to ESC B is rotated
Frame ID: 00 08 73 0A
Data: 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 33 37
Master to ESC (send)
(optional
*
) ping all ESCs on network
Frame ID: 00 00 01 08
Data: 00
Figure 7: ESC ID assignment example.
Note: The optional command is verification that all ESCs are connected properly.
