REV 1.1.1 (Last Modified May 25, 2023)
14 | 29
R E V 1 . 1 . 1
CAN Bus Messages
CAN bus messages are sent between the master and the ESCs. These messages define the primary method of
communication on the CAN bus network. A properly configured network will consist of a master that has an ID
of 0x00 and ESCs that have unique IDs of 0x02~0xFF. An ESC ID 0x02 is used in the following messages because
ESC ID 0x01 represents an unassigned ESC. The ESC ID of 0x01 is also used for broadcasting messages. When
sending a message from the master, if there are additional bytes specified in the data frame, they are ignored
by the ESC.
Object
address
Data length
(Send)
Data Transmission
(Send)
Data Transmission
(Receive)
Data length
(Receive)
Information Definition
(Send/Receive, Refresh Rate)
0
0
No data
ESC information
5
Receive ESC Programming Information
1
2
PWM (Throttle)
None
0
Send Throttle Control (0…2200μs)
50 Hz (20 ms) to 500 Hz (2 ms)
2
0
No data
ESC’s Voltage
2
Receive ESC Input Voltage (V)
10 Hz (100 ms) 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
Receive ESC Output Throttle (%)
10 Hz (100 ms) to 500 Hz (2 ms)
8
0
No data
MCU ID
8
Receive MCU ID Information
9
8
MCU ID
Node address
1
Update Node Address
10
2
Start ESC
Enumeration
MCU ID
8
Start ESC Enumeration (send MCU ID
back when motor is rotated)
11
0
No data
ESC Voltage, Current,
RPM, Temperature, Warn
8
Receive ESC’s Voltage, Current, RPM,
Temperature, and Warning (10-500 Hz)
32
0
No data
The Shutdown
Procedure is Invoked
1
Immediately turn off ESC controls (stop
all MOSFET channels) and remain idle
until restart command is issued
33
0
No data
The Restart Procedure
is Invoked
1
Restart the ESC controls and re-enable
arming and throttle control
34
0
No data
Warnings and Errors
1
Receive ESCs Warning and Errors
Figure 10: CAN Bus Message Table
Note: Figures left empty are not applicable.
