Method 2 (Esc Enumeration); Figure 6: Updated Esc Id; Figure 7: Esc Id Assignment Example - KDE Direct KDECAN Protocol KDE-UAS125UVC-HE Manual

• 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.
• The MCU ID represents the unique ID of the STM32 CPU in the ESC.

Figure 6: Updated ESC ID

Method 2 (ESC Enumeration)

The ESC enumeration message allows the master to assign the CAN bus ESC ID. This works by having the user
manually rotate the motors (1/2 turn) which are connected to the ESCs. Once the master receives the MCU
IDs, it can then send a message to set the ESC IDs in the order the motors were rotated. The source and
destination bits in the extended frame ID of an ESC enumeration message is filled with a unique number so
that a CAN bus error won't occur from messages having nonunique IDs.
Direction
Master to ESC (send)
ESC to Master (receive)
ESC to Master (receive)
ESC to Master (receive)
Master to ESC (send)
Master to ESC (send)
Master to ESC (send)
Master to ESC (send)

Figure 7: ESC ID assignment example.

Note: The optional command is verification that all ESCs are connected properly.
REV 1.1.1 (Last Modified May 25, 2023)
Description
Start ESC Enumeration
Rotated motors return ESC MCU #
Motor connected to ESC A is rotated
Motor connected to ESC B is rotated
Motor connected to ESC C is rotated
Set ESC A to ESC ID 2
Set ESC B to ESC ID 3
Set ESC C to ESC ID 4
(optional*) ping all ESCs on network
CAN Message (Frame and Data)
Frame ID: 00 00 01 0A
Data: 27 10
Frame ID: 00 05 17 0A
Data: FB C1 57 15 20 33 33 37
Frame ID: 00 08 73 0A
Data: 5D 27 57 16 20 33 33 37
Frame ID: 00 0B 22 0A
Data: 7C 32 57 13 20 33 33 37
Frame ID: 00 00 02 09
Data: FB C1 57 15 20 33 33 37
Frame ID: 00 00 03 09
Data: 5D 27 57 16 20 33 33 37
Frame ID: 00 00 04 09
Data: 7C 32 57 13 20 33 33 37
Frame ID: 00 00 01 08
Data: 00
10 | 29 R E V 1 . 1 . 1