KDE Direct KDE-UAS85UVC Manual
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REV 1.0.8 (Last Modified March 1, 2021)

KDE Direct, LLC. License Agreement

PLEASE READ THIS LICENSE AND MANUAL IN THEIR ENTIRETY BEFORE USING THE KDE UVC SERIES ESC AND/OR KDECAN PROTOCOL.
BY USING THE KDE UVC SERIES ESC AND/OR KDECAN PROTOCOL, YOU ARE ACKNOWLEDGING THAT YOU HAVE READ AND
UNDERSTOOD THE CONTENT, INCLUDING ALL WARNINGS AND DISCLAIMERS CONTAINED HEREIN. YOU FURTHER ACKNOWLEDGE
THAT YOU HAVE READ AND UNDERSTOOD ALL KDE POLICIES REFERRED TO IN THE MANUAL, INCLUDING KDE'S LIABILITY POLICY
AVAILABLE AT http://www.kdedirect.com/pages/liability-policy. IF YOU DO NOT UNDERSTAND ANY OF THE WARNINGS AND/OR
DISCLAIMERS, DO NOT USE THE KDE UVC SERIES ESC AND/OR KDECAN PROTOCOL.
KDE DIRECT RESERVES THE RIGHT TO CHANGE OR MODIFY THE TERMS OF THE LICENSE AND MANUAL AT ANY TIME WITHOUT PRIOR
NOTICE.
1. General. The KDECAN Protocol Software (defined herein) is designed to enable functionality between KDE UVC Series ESC to your
third party controllers. This document provides general recommendations to enable functionality between the KDE UVC Series ESC
and your third party controller.
As detailed below, KDE Direct, LLC. ("KDE Direct") does not manufacture this third party product and therefore does not support or
warranty the safety, use, functionality or compatibility of any third party controllers. Any information as to a third party controller is
provided solely as a reference. Please refer to documentation accompanying your third party controller and any updates issued by
the third party controller manufacturer for best practices and/or other information related to the safety, use, functionality or capability
of your controller.
2. Intellectual Property. The KDECAN Protocol Software, documentation, images, content, interfaces, fonts and any other data
accompanying this License whether pre-installed on the KDE UVC Series ESC hardware, on disk, in read only memory, on any other
media or in any other form ("KDECAN Protocol Software") are licensed, not sold, to you by KDE Direct for use only under the terms of
this License. KDE Direct retains ownership of the KDECAN Protocol Software itself and reserve all rights not expressly granted to you.
The terms of this License will govern any software upgrades provided by KDE Direct that replace and/or supplement the original
KDECAN Protocol Software, unless such upgrade is accompanied by a separate license in which case the terms of that license will
govern.
Title and intellectual property rights in and to any content displayed by or hardware accessed through the KDECAN Protocol Software
belongs to the respective owner. Such content or hardware may be protected by copyright or other intellectual property laws and
treaties, and may be subject to terms of use of the third party providing such content. This License does not grant you any rights to
use such content or hardware nor does it guarantee that such content or hardware will continue to be available to you.
3. License Uses and Restrictions. The Software is licensed to you and not sold. Subject to the terms of this Agreement, KDE DIRECT
hereby grants you a personal, non-exclusive, non-transferable, non-sublicensable, and revocable license to use the Software solely in
connection with the related program output for which the software was designed, specifically, with third party controllers.
You acknowledge that the Software is protected intellectual property and KDE DIRECT reserves all such rights with respect to the
Software, except for the license expressly granted to you in this Agreement. Except for such express license, no right, title, interest or
license in or to the Software, whether by implication, estoppel or otherwise, is granted, assigned or transferred to you. You agree not
to take any action that interferes, in any manner, with KDE DIRECT or any of its authorized licensor's rights with respect to the Software.
In addition, title, ownership rights and intellectual property rights in and to any content accessed through the Software is the property
of the applicable content owner and may be protected by applicable copyright, patent, trademark or other law. This Agreement gives
you no rights to such content.
You acknowledge and agree that you will not: (a) reproduce the Software; (b) modify, adapt, translate or create any derivative works
of the Software; (c) attempt to circumvent or disable the Software or any technology features or measures in the Software by any
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Summary of Contents for KDE Direct KDE-UAS85UVC

  • Page 1: Kde Direct, Llc. License Agreement

    License whether pre-installed on the KDE UVC Series ESC hardware, on disk, in read only memory, on any other media or in any other form (“KDECAN Protocol Software”) are licensed, not sold, to you by KDE Direct for use only under the terms of this License.
  • Page 2 KDE Direct is not responsible for examining, supporting or evaluating the functionality, content, accuracy, completeness, timeliness, validity, quality, legality, or any other aspect of Third Party Products or associated goods or services. Further, KDE Direct, its officers, affiliates and subsidiaries do not warrant or endorse and do not assume and will not have any liability or responsibility to you or any other person for any Third Party Products, or for any other materials, products, or services of third parties.
  • Page 3 9. Termination. This License is effective until terminated. Your rights under this License will terminate automatically or otherwise cease to be effective without notice from KDE Direct if you fail to comply with any term(s) of this License. Upon termination of the License, you shall cease all use of the KDECAN Protocol Software and destroy all copies, full or partial, of the KDECAN Protocol Software.
  • Page 4: Table Of Contents

    CAN messages to the ESC of which the ESC responds accordingly. This document defines the message structure and protocol necessary to communicate with UVC ESCs through CAN bus. Contents KDE Direct, LLC. License Agreement ........................1 Overview ................................. 4 List of Figures ................................5 KDECAN Capabilities ...............................
  • Page 5: List Of Figures

    Figure 2: ESC to ESC CAN bus connection....................... 7 Figure 3: Example CAN bus network........................8 Figure 4: KDE Direct Device Manager (download link) ................... 9 Figure 5: ESC Unique ID Assignment ........................9 Figure 6: Updated ESC ID ............................10 Figure 7: ESC ID assignment example.
  • Page 6: Kdecan Capabilities

    Wiring Schematic and ID Assignment sections below for reference. KDE UVC Pinout Schematic The KDE UVC series ESCs come with dual CAN bus ports. These ports use a standard CAN bus 4-pin cable. For compatible cables please visit the KDE Direct website at https://www.kdedirect.com 6 | 30...
  • Page 7: Figure 1: Can Bus Port Configuration

    REV 1.0.8 (Last Modified March 1, 2021) For manual configuration, please refer to the picture shown below: Figure 1: CAN bus port configuration. Connect multiple ESCs together following the wire setup shown below. To connect additional ESCs, simply connect the two closest CAN bus ports. Wire kits can be found here. Figure 2: ESC to ESC CAN bus connection.
  • Page 8: Wiring Schematic

    REV 1.0.8 (Last Modified March 1, 2021) Wiring Schematic An example CAN bus network configuration is shown below. Each CAN bus network must contain a master, one or more ESCs that connect to the master, and a 120 ohm terminating resistor. The 120 ohm terminating resistor is required on all CAN bus networks.
  • Page 9: Method 1 (Manual Id Assignment)

    REV 1.0.8 (Last Modified March 1, 2021) Method 1 (Manual ID Assignment) Figure 4: KDE Direct Device Manager (download link) • The ESC ID can be set in the KDE Device Manager through the ESC ID (CAN) selection. • To set the ESC ID, press the FIXED checkbox, select the desired ID, and press the SEND SETTINGS button.
  • Page 10: Method 2 (Esc Enumeration)

    REV 1.0.8 (Last Modified March 1, 2021) • 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. •...
  • Page 11: Figure 7: Esc Id Assignment Example

    REV 1.0.8 (Last Modified March 1, 2021) Direction Description CAN Message (Frame and Data) Master to ESC (send) Start ESC Enumeration Frame ID: 00 00 01 0A Rotated motors return ESC MCU # 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...
  • Page 12: Communication Definitions And Algorithms

    REV 1.0.8 (Last Modified March 1, 2021) Communication Definitions and Algorithms KDECAN uses different data types in the messages that are sent between the ESCs and the master. The CRC algorithm is used to verify that no information is altered within the transmission of the CAN message. The data type descriptions and algorithm are provided below for reference.
  • Page 13: Can Bus Frame Structure

    REV 1.0.8 (Last Modified March 1, 2021) CAN Bus Extended Frame Structure (CAN 2.0B) A CAN bus frame consists of an extended frame ID and a data frame. The extended frame ID consists of 5 bits for priority, 8 bits for the source id (sender), 8 bits for the destination id (receiver), and 8 bits for the object address which tells the ESC how to respond to the message.
  • Page 14 REV 1.0.8 (Last Modified March 1, 2021) CAN Bus Standard Frame Structure (CAN 2.0A) CAN bus messages using standard frames (11-bit identifier) work the same way as extended frames (29-bit identifier) the only difference is how the bits are interpreted. The standard frame ID consists of 1 bit for the source (0 for master and 1 for the ESC), 5 bits for the ESC ID, and 5 bits for the object address.
  • Page 15: Can Bus Messages

    REV 1.0.8 (Last Modified March 1, 2021) 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.
  • Page 16 REV 1.0.8 (Last Modified March 1, 2021) 0: Get ESC information (U64) MASTER TO ESC: Extended Frame ID Priority Source Destination Object Address Address Address 0x00 0x00 0x02 0x00 ESC TO MASTER (Answer) Extended Frame ID Data Priority Source Destination Object Byte0 Byte1...
  • Page 17 REV 1.0.8 (Last Modified March 1, 2021) 2: Get Voltage (U16) MASTER TO ESC: Extended Frame ID Priority Source Destination Object Address Address Address 0x00 0x00 0x02 0x02 ESC TO MASTER(Answer) Extended Frame ID Data Priority Source Destination Object Byte0 Byte1 Address Address...
  • Page 18 REV 1.0.8 (Last Modified March 1, 2021) 4: Get RPM (U16) MASTER TO ESC: Extended Frame ID Priority Source Destination Object Address Address Address 0x00 0x00 0x02 0x04 ESC TO MASTER(Answer) Extended Frame ID Data Priority Source Destination Object Byte0 Byte1 Address Address...
  • Page 19 REV 1.0.8 (Last Modified March 1, 2021) 6: Get Input Throttle (U16) MASTER TO ESC: Extended Frame ID Priority Source Destination Object Address Address Address 0x00 0x00 0x02 0x06 ESC TO MASTER(Answer) Extended Frame ID Data Priority Source Destination Object Byte0 Byte1 Address...
  • Page 20 REV 1.0.8 (Last Modified March 1, 2021) 7: Get Output Throttle (U16) MASTER TO ESC: Extended Frame ID Priority Source Destination Object Address Address Address 0x00 0x00 0x02 0x07 ESC TO MASTER(Answer) Extended Frame ID Data Priority Source Destination Object Byte0 Address Address...
  • Page 21 REV 1.0.8 (Last Modified March 1, 2021) 9: Update Node Address MASTER TO ESC: Extended Frame ID Data Priority Source Destination Object Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Address Address Address 0x00 0x00 0x09 XX = NEW NODE ADDRESS ESC TO MASTER(Answer) Priority Source Destination...
  • Page 22 REV 1.0.8 (Last Modified March 1, 2021) 11: Get Voltage, Current, RPM, and Temperature, Warning MASTER to ESC: Priority Source Destination Object Address Address Address 0x00 0x00 0x02 0x0B ESC to MASTER(Answer) Extended Frame ID Data Priority Source Destination Object Byte0 Byte1 Byte2...
  • Page 23 REV 1.0.8 (Last Modified March 1, 2021) 33: Restart ESC MASTER to ESC: Priority Source Destination Object Address Address Address 0x00 0x00 0x02 0x21 ESC to MASTER(Answer) Extended Frame ID Data Priority Source Destination Object Byte0 Address Address Address 0x00 0x02 0x00 0x21...
  • Page 24: Warning Signals And Errors

    REV 1.0.8 (Last Modified March 1, 2021) Warning Signals and Errors The warning signals and errors can be viewed through object address 11 or 34. The warning signals and errors are sent in 1 byte, if a protection occurs the corelating bit will be set: •...
  • Page 25: Figure 11: Warning Messages

    REV 1.0.8 (Last Modified March 1, 2021) BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 Bit 2 Bit 1 Bit 0 Voltage Cutoff Low Voltage Over Voltage Overload Temp Stall Protection Protection Protection (if enabled) Bit 7 Bit 6 Bit 5 Binary: Binary:...
  • Page 26: Faq

    REV 1.0.8 (Last Modified March 1, 2021) How do I reset my ESC ID? Currently the ESC ID can be reset to 0x01 with CAN Message 9 or through the KDE Device Manager by pressing the DEFAULT SETTINGS button or by updating firmware (factory reset). What does the Extended Frame ID represent? The first byte represents the priority of the CAN message.
  • Page 27: Primary Throttle Through Can Bus

    Primary Throttle through CAN bus KDECAN primary throttle control through CAN bus will be a feature available in future firmware updates. KDECAN Brand Guidelines Brand guidelines can be found on the KDE Direct website here. 27 | 30 R E V 1 . 0 . 8...
  • Page 28: Troubleshooting

    REV 1.0.8 (Last Modified March 1, 2021) Troubleshooting • Try sending frames with the extended frame format. Typically, the format needs to be changed from standard to extended (CAN 2.0 B). • The baud rate is 1Mb/s by default. • The ESC must be connected to a power supply or LiPo battery. Make sure USB is disconnected. •...
  • Page 29 REV 1.0.8 (Last Modified March 1, 2021) KDECAN Throttle Control BETA Setup: Warning: CAN bus throttle control is still in BETA and is at your own risk. This functionality is still currently being tested. The setup described below is provided as an example. When KDECAN Control is set to PWM SYNC: Primary throttle control is done through PWM and secondary throttle control is done through CAN bus.
  • Page 30 REV 1.0.8 (Last Modified March 1, 2021) For CAN bus throttle control to work, the ESC expects throttle messages to be sent in 20-2ms intervals to achieve 50-500Hz. This is required because the frequency directly effects the acceleration rate. Next, connect the ESC to a motor, CAN bus master (device sending messages), and connect the ESC to a LiPo battery or power supply.

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