KDE Direct KDECAN Protocol KDE-UAS125UVC-HE, Руководство пользователя

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REV 1.1.1 (Last Modified May 25, 2023)
20 | 29 R E V 1 . 1 . 1
9: Update Node Address
MASTER TO ESC:
Extended Frame ID Data
Priority Source
Address Destination
Address
Object
Address
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x00 0x00 XX 0x09 MCU
ID0
MCU
ID1
MCU
ID2
MCU
ID3
MCU
ID4
MCU
ID5
MCU
ID6
MCU
ID7
XX = NEW NODE ADDRESS
ESC TO MASTER(Answer)
Priority Source
Address Destination
Address
Object
Address
Byte0
0x00 XX 0x00 0x09 New Node
Address
Example:
Message
Transmission: Frame ID: Data: Data Decimal Equivalent: Data Description:
Master to ESC: 00 00 02 09 7d da 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 0x00 0x0A MCU
ID0
MCU
ID1
MCU
ID2
MCU
ID3
MCU
ID4
MCU
ID5
MCU
ID6
MCU
ID7
Example:
Message
Transmission: Frame ID: Data: Data Decimal Equivalent: Data Description:
Master to ESC: 00 00 01 0a 27 10 00 00 00 00 00 00 10,000 Broadcast Enum message for
10,000 msec
ESC to Master: 00 02 00 0a 7d da 57 18 20 33 33 37 When the motor is rotated, the
ESC responds with its MCU ID