KDE Direct KDECAN Protocol KDE-UAS125UVC-HE Manual page 20

9: Update Node Address
MASTER TO ESC:
Extended Frame ID
Priority Source Destination
Address Address
0x00 0x00 XX
XX = NEW NODE ADDRESS
ESC TO MASTER(Answer)
Priority Source Destination
Address Address
0x00 XX 0x00
Example:
Message Frame ID:
Transmission:
Master to ESC: 00 00 02 09 7d da 57 18 20 33 33 37
ESC to Master: 00 02 00 09 02
10: Start ESC Enumeration
MASTER to ESC:
Priority Source Destination
Address Address
0x00 0x00 0x01
ESC to MASTER(Answer)
Extended Frame ID
Priority Source Destination
Address Address
0x00 0x02 0x00
Example:
Message Frame ID:
Transmission:
Master to ESC: 00 00 01 0a
ESC to Master: 00 02 00 0a
REV 1.1.1 (Last Modified May 25, 2023)
Object Byte0 Byte1
Address
0x09 MCU MCU
ID0 ID1
Object Byte0
Address
0x09 New Node
Address
Data:
Object Byte0 Byte1
Address
0x0A 0~0xFF 0~0xFF
Object Byte0 Byte1
Address
0x0A MCU MCU
ID0 ID1
Data:
27 10 00 00 00 00 00 00
7d da 57 18 20 33 33 37
Data
Byte2 Byte3 Byte4
MCU MCU MCU
ID2 ID3 ID4
Data Decimal Equivalent:
Data
Byte2 Byte3 Byte4
MCU MCU MCU
ID2 ID3 ID4
Data Decimal Equivalent:
10,000
Byte5 Byte6
MCU MCU
ID5 ID6
Data Description:
The ESC responds with 2 (its new
node address)
Byte5 Byte6
MCU MCU
ID5 ID6
Data Description:
Broadcast Enum message for
10,000 msec
When the motor is rotated, the
ESC responds with its MCU ID
20 | 29 R E V 1 . 1 . 1
Byte7
MCU
ID7
Byte7
MCU
ID7