Kelly
Kelly
Kelly
Kelly KDH
KDH
KDH
KDHE
E
E
E High
High
High
High Efficient
Efficient
Efficient
Efficient Series/PM
Series/PM
Series/PM
Series/PM 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 17
Table
Table
Table
Table 2
2
2
2::::
Kelly
Kelly
Kelly
Kelly KDHE
KDHE
KDHE
KDHE 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 one or two data frames 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.
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