Kelly KBL09151, Руководство пользователя

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Kelly
Kelly
Kelly Kelly KBL
KBL
KBL KBL Brushless
Brushless
Brushless Brushless Motor
Motor
Motor Motor Controller
Controller
Controller Controller User
User
User User’’’’s
s
s s Manual
Manual
Manual Manual V
V
V V 3.3
3.3
3.3 3.3
Page 16
Table
Table
Table Table 2
2
2 2:::: KBL
KBL
KBL KBL Controller
Controller
Controller Controller CAN
CAN
CAN CAN Commands
Commands
Commands Commands List
List
List List
V
V V
Version
ersion ersion
ersion 1.1
1.1 1.1
1.1
You
You
You You should
should
should should specify
specify
specify specify when
when
when when sending:
sending:
sending: sending:
ID:
ID: ID:
ID: Our default ID is 0x6B, so only the data frame with ID 107 can be received by our controller.
However, it can be set by configuration program.
Frame
Frame Frame
Frame type:
type: type:
type: data frame
Frame
Frame Frame
Frame format:
format: format:
format: standard 11 bits ID
Length:
Length: Length:
Length: the number of data field bytes
Data Data Data Data field: field: field: field: data[0] is the command which indicates the operation.
Controller Controller Controller Controller response response response response::::
ID: ID: ID: ID: The controller sends data frames with ID 115, 0x73. It also can be set by configuration program.
Frame Frame Frame Frame type: type: type: type: data frame
Length: Length: Length: Length: the number of data field bytes
Data Data Data Data field: field: field: field: The controller sends a data frame in response.
Commands
Commands
Commands Commands definitions
definitions
definitions definitions
Command CCP
CCP
CCP CCP_FLASH_READ
_FLASH_READ
_FLASH_READ _FLASH_READ
Length 3
data[0] 0xF2
data[1] INFO_MODULE_NAME
data[2] 8
Controller response
Length
8
data[0]~data[7] Controller’s model in ASCII format, 8 bytes.
Description: Getting controller’s model no. E.g. 0x4B,0x42,0x4C is 'K' , 'B', 'L', 0x30 is '0' .
INFO_MODULE_NAME constant is defined as 64.
Command CCP CCP CCP CCP_FLASH_READ _FLASH_READ _FLASH_READ _FLASH_READ
Length 3
data[0] 0xF2
data[1] INFO_SOFTWARE_VER
data[2] 2
Controller response
Length
2
data[0]~data[1] software version in BCD alike format, two bytes.
Description: Getting controller’s software version,
it also define as the controller’s version, BCD
alike format storage. E.g. 0x0A,0x01 should be parsed to ASCII characters ‘0’ ‘A’ ‘0’ ‘1’ as the software
version. INFO_SOFTWARE_VER constant is defined as 83.
Command CCP CCP CCP CCP_FLASH_READ _FLASH_READ _FLASH_READ _FLASH_READ
Length 3
data[0] 0xF2
data[1] CAL_TPS_DEAD_ZONE_LOW
data[2] 1
Controller response
Length
1
data[0] TPS_Dead_Zone_Low
Desccription: Getting controller’s Throttle low-end dead zone. CAL_TPS_DEAD_ZONE_LOW
constant is defined as 4. The maximum value of Throttle is 200. If the value of Throttle Low-end Dead
Zone is 40, indicating 20% low-end dead zone. (40/200 is 20%.)