Can Bus Messages; Figure 10: Can Bus Message Table - KDE Direct KDECAN Protocol KDE-UAS125UVC-HE Manual

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. An ESC ID 0x02 is used in the following messages because
ESC ID 0x01 represents an unassigned ESC. The ESC ID of 0x01 is also used for broadcasting messages. When
sending a message from the master, if there are additional bytes specified in the data frame, they are ignored
by the ESC.
Object Data length
address (Send)
0 0
1 2
2 0
3 0
4 0
5 0
6 0
7 0
8 0
9 8
10 2
11 0
32 0
33 0
34 0

Figure 10: CAN Bus Message Table

Note: Figures left empty are not applicable.
REV 1.1.1 (Last Modified May 25, 2023)
Data Transmission Data Transmission
(Send) (Receive)
No data ESC information
PWM (Throttle) None
No data ESC's Voltage
No data ESC's Current
No data ESC's RPM
No data ESC's Temperature
No data ESC's Input Throttle
No data ESC's Output Throttle
No data MCU ID
MCU ID Node address
Start ESC MCU ID
Enumeration
No data ESC Voltage, Current,
RPM, Temperature, Warn
No data The Shutdown
Procedure is Invoked
No data The Restart Procedure
is Invoked
No data Warnings and Errors
Data length Information Definition
(Receive) (Send/Receive, Refresh Rate)
5 Receive ESC Programming Information
0 Send Throttle Control (0...2200μs)
50 Hz (20 ms) to 500 Hz (2 ms)
2 Receive ESC Input Voltage (V)
10 Hz (100 ms) to 500 Hz (2 ms)
2 Receive ESC Input Current (A)
10 Hz (100 ms) to 500 Hz (2 ms)
2 Receive ESC eRPM (rpm)
10 Hz (100 ms) to 500 Hz (2 ms)
1 Receive ESC MCU Temperature (°C)
10 Hz (100 ms) to 500 Hz (2 ms)
2 Receive ESC Input Throttle (0...2200μs)
10 Hz (100 ms) to 500 Hz (2 ms)
1 Receive ESC Output Throttle (%)
10 Hz (100 ms) to 500 Hz (2 ms)
8 Receive MCU ID Information
1 Update Node Address
8 Start ESC Enumeration (send MCU ID
back when motor is rotated)
8 Receive ESC's Voltage, Current, RPM,
Temperature, and Warning (10-500 Hz)
1 Immediately turn off ESC controls (stop
all MOSFET channels) and remain idle
until restart command is issued
1 Restart the ESC controls and re-enable
arming and throttle control
1 Receive ESCs Warning and Errors
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