KDE Direct KDECAN Protocol KDE-UAS125UVC-HE User manual

REV 1.1.1 (Last Modified May 25, 2023)
1 | 29 R E V 1.1 . 1
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

REV 1.1.1 (Last Modified May 25, 2023)
2 | 29 R E V 1.1 . 1
means or in any manner; (d) attempt to decompile, disassemble, reverse engineer, or otherwise attempt to derive the source code
for the Software; (e) distribute, encumber, sell, rent, lease, sublicense, or otherwise transfer, publish or disclose the Software to any
third party; (f) remove or alter any trademark, logo, copyright or other proprietary notices, legends, symbols or labels in or on the
Software or used in connection with the Software; or (g) use the Software in any manner to aid in the violation of any third party
intellectual property rights, including but not limited to another's copyrights, trade secrets, and patents.
4. Third Party Products and Disclaimer. The KDECAN Protocol Software may enable, display, include or make available content, data,
information, applications, hardware or materials from third parties (“Third Party Products”) or make references to certain Third Party
Products, including but not limited to the PixHawk Flight Controller. By using the KDECAN Protocol Software, you acknowledge and
agree that 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. References to
Third Party Products is provided solely as a convenience to you.
5. Disclaimer of Warranties. YOU EXPRESSLY ACKNOWLEDGE AND AGREE THAT, TO THE EXTENT PERMITTED BY APPLICABLE LAW,
USE OF THE KDECAN PROTOCOL SOFTWARE AND ANY FUNCTIONALITY ENABLED BY THE KDECAN PROTOCOL SOFTWARE IS AT YOUR
SOLE RISK AND THAT THE ENTIRE RISK AS TO SATISFACTORY QUALITY, PERFORMANCE, ACCURACY AND EFFORT IS WITH YOU. TO THE
MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, THE KDECAN PROTOCOL SOFTWARE IS PROVIDED “AS IS” AND “AS AVAILABLE,”
WITH ALL FAULTS AND WITHOUT WARRANTY OF ANY KIND, AND KDE DIRECT HEREBY DISCLAIMS ALL WARRANTIES AND CONDITIONS
WITH RESPECT TO THE KDECAN PROTOCOL SOFTWARE, EITHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES AND/OR CONDITIONS OF MERCHANTABILITY, OF SATISFACTORY QUALITY, OF FITNESS FOR A PARTICULAR
PURPOSE, OF ACCURACY, OF QUIET ENJOYMENT, AND NON-INFRINGEMENT OF THIRD PARTY RIGHTS. KDE DIRECT DOES NOT
WARRANT AGAINST INTERFERENCE WITH YOUR ENJOYMENT OF THE KDECAN PROTOCOL SOFTWARE, THAT THE FUNCTIONS
CONTAINED IN, OR SERVICES PERFORMED BY OR PROVIDED BY, THE KDECAN PROTOCOL SOFTWARE WILL MEET YOUR
REQUIREMENTS, THAT THE OPERATION OF THE KDECAN PROTOCOL SOFTWARE WILL BE UNINTERRUPTED OR ERROR-FREE, THAT ANY
PERFORMANCE OF THE KDECAN PROTOCOL SOFTWARE WILL CONTINUE TO BE MADE AVAILABLE, THE KDECAN PROTOCOL SOFTWARE
WILL BE COMPATIBLE OR WORK WITH ANY THIRD PARTY PRODUCTS, SOFTWARE, APPLICATIONS OR THIRD PARTY SERVICES, OR THAT
DEFECTS IN THE KDECAN PROTOCOL SOFTWARE WILL BE CORRECTED. INSTALLATION OF THIS SOFTWARE MAY AFFECT THE USABILITY
OF THIRD PARTY PRODUCTS, SOFTWARE, APPLICATIONS OR THIRD PARTY SERVICES. YOU ALSO ACKNOWLEDGE THAT USE OF KDE
UVC SERIES ESC AND/OR FLIGHT CONTROLLERS REQUIRES ADVANCED WIRING KNOWLEDGE AND YOU ASSUME ALL RESPONSIBILITY
ASSOCIATED WITH PROPER WIRING OF THE KDE UVC SERIES ESC AND/OR FLIGHT CONTROLLERS. YOU FURTHER ACKNOWLEDGE THAT
THE KDECAN PROTOCOL SOFTWARE IS NOT INTENDED OR SUITABLE FOR USE IN SITUATIONS OR ENVIRONMENTS WHERE THE FAILURE
OR TIME DELAYS OF, OR ERRORS OR INACCURACIES IN THE CONTENT, DATA OR INFORMATION PROVIDED BY, THE KDECAN PROTOCOL
SOFTWARE COULD LEAD TO DEATH, PERSONAL INJURY OR SEVERE PHYSICAL OR ENVIRONMENTAL DAMAGE. NO ORAL OR WRITTEN
INFORMATION OR ADVICE GIVEN BY KDE DIRECT OR AN AUTHORIZED REPRESENTATIVE SHALL CREATE A WARRANTY. SHOULD THE
KDE DIRECT PROTOCOL SOFTWARE PROVE DEFECTIVE, YOU ASSUME THE ENTIRE COST OF ALL NECESSARY SUPPORT, SERVICING,
REPAIR OR CORRECTION. SOME JURISDICTIONS DO NOT ALLOW THE EXCLUSION OF IMPLIED WARRANTIES OR LIMITATION ON
APPLICABLE STATUTORY RIGHTS OF A CUSTOMER, SO THE ABOVE DESCRIPTION MAY NOT APPLY TO YOU.
6. Limitation of Liability. AS KDE DIRECT HAS NO CONTROL OVER USE, SETUP, FINAL ASSEMBLY, MODIFICATION, OR MISUSE, NO
LIABILITY SHALL BE ASSUMED NOR ACCEPTED FOR ANY RESULTING DAMAGE OR INJURY. BY THE ACT OF USE OF THE KDECAN
PROTOCOL SOFTWARE, THE USER ACCEPTS ALL RESULTING LIABILITY. TO THE EXTENT NOT PROHIBITED BY APPLICABLE LAW, IN NO
EVENT SHALL KDE DIRECT BE LIABLE FOR PERSONAL INJURY, OR ANY INCIDENTAL, SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES
WHATSOEVER, INCLUDING, WITHOUT LIMITATION, DAMAGES FOR LOSS OF PROFITS, BUSINESS INTERRUPTION OR ANY OTHER
COMMERCIAL DAMAGES OR LOSSES, ARISING OUT OF OR RELATED TO YOUR USE OR INABILITY TO USE THE KDECAN PROTOCOL
SOFTWARE OR THIRD PARTY PRODUCTS USED IN CONJUNCTION WITH THE KDECAN PROTOCOL SOFTWARE, REGARDLESS OF THE
THEORY OF LIABILITY (CONTRACT, TORT OR OTHERWISE) AND EVEN IF KDE DIRECT HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH

REV 1.1.1 (Last Modified May 25, 2023)
3 | 29 R E V 1.1 . 1
DAMAGES. SOME JURISDICTIONS DO NOT ALLOW THE LIMITATION OF LIABILITY FOR PERSONAL INJURY, OR OF INCIDENTAL OR
CONSEQUENTIAL DAMAGES, SO THIS LIMITATION MAY NOT APPLY TO YOU. IN NO EVENT SHALL KDE DIRECT’S TOTAL LIABILITY TO
YOU FOR ALL DAMAGES (OTHER THAN AS MAY BE REQUIRED BY APPLICABLE LAW IN CASES INVOLVING PERSONAL INJURY) EXCEED
THE AMOUNT OF THE INDIVIDUAL PRICE OF THE KDECAN PROTOCOL SOFTWARE ON WHICH LIABILITY IS ASSERTED. THE FOREGOING
LIMITATIONS WILL APPLY EVEN IF THE ABOVE STATED REMEDY FAILS OF ITS ESSENTIAL PURPOSE. IF THE USER IS NOT PREPARED TO
ACCEPT THE LIABILITY ASSOCIATED WITH THE USE OF THE KDECAN PROTOCOL SOFTWARE, THEY ARE ADVISED TO RETURN THE
KDECAN PROTOCOL SOFTWARE IMMEDIATELY TO KDE DIRECT OR AN AUTHORIZED DEALER.
7. Export Restrictions. KDE DIRECT makes no representation that the Software is appropriate for use in your country of use. You
acknowledge that none of the Software or underlying information or technology may be downloaded or otherwise exported or re-
exported into (or to a national or resident of) any countries subject to U.S. trade embargo, or anyone on the U.S. Treasury Department's
list of Specially Designated Nationals or the U.S. Commerce Department's Table of Denial Orders. By using the Software, you are
agreeing to the foregoing, and are representing and warranting that you are not located in or under the control of a national or resident
of any such country or on any such list.
8. Indemnity. You hereby agree to indemnify, defend and hold KDE DIRECT and its authorized licensors harmless from and against
any and all liabilities, damages, claims, fines and expenses (including reasonable attorneys' fees and costs) arising out of any breach
of this Agreement by you.
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.
Sections 1 and 3-8 of this License shall survive any such termination.
10. Controlling Law and Severability. This License will be governed by and construed in accordance with the laws of Oregon, without
reference to conflict of laws principles. The sole forum for any disputes will be in Multnomah County, Oregon and any objections to
jurisdiction are hereby waived. This License shall not be governed by the United Nations Convention on Contracts for the International
Sale of Goods, the application of which is expressly excluded. If for any reason a court of competent jurisdiction finds any provision,
or portion thereof, to be unenforceable, the remainder of this License shall continue in full force and effect.
11. Complete Agreement; Governing Language. This License constitutes the entire agreement between you and KDE Direct relating
to the use of the KDECAN Protocol Software and supersedes all prior or contemporaneous understandings regarding such subject
matter. No amendment to or modification of this License will be binding unless in writing and signed by both parties.

REV 1.1.1 (Last Modified May 25, 2023)
4 | 29 R E V 1.1 . 1
Overview
The KDECAN bus firmware update enables KDE UVC ESCs to communicate and actively monitor critical system
components through CAN bus. This update allows telemetry and real time monitoring for enhanced safety
during operation. Any device with a CAN bus transceiver is capable of communicating with a KDE UVC ESC. This
works by having the device send 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 ............................................................................................................................................... 6
CAN Bus Protocol.................................................................................................................................................... 6
System Configuration.............................................................................................................................................. 6
KDE UVC Pinout Schematic..................................................................................................................................... 6
Wiring Schematic ........................................................................................................................................ 8
ID Assignment ............................................................................................................................................. 8
Method 1 (Manual ID Assignment)................................................................................................. 9
Method 2 (ESC Enumeration) ....................................................................................................... 10
Communication Definitions and Algorithms ........................................................................................................ 11
Data Types................................................................................................................................................. 11
CRC Algorithm........................................................................................................................................... 11
CAN Bus Frame Structure ..................................................................................................................................... 12
CAN Bus Messages.................................................................................................................................... 14
Warning Signals and Errors....................................................................................................................... 23
FAQ........................................................................................................................................................................ 25
Primary Throttle through CAN bus ....................................................................................................................... 26
KDECAN Brand Guidelines .................................................................................................................................... 26
Troubleshooting.................................................................................................................................................... 27

REV 1.1.1 (Last Modified May 25, 2023)
5 | 29 R E V 1.1 . 1
List of Figures
Figure 1: CAN bus port configuration. .................................................................................................................... 7
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................................................................................................................... 10
Figure 8: CAN Bus frame....................................................................................................................................... 12
Figure 9: CAN bus frame example. ....................................................................................................................... 12
Figure 10: CAN Bus Message Table....................................................................................................................... 14
Figure 11: Warning Messages............................................................................................................................... 24

REV 1.1.1 (Last Modified May 25, 2023)
6 | 29 R E V 1.1 . 1
KDECAN Capabilities
•Control Signals (Send)
oThrottle Control (50Hz - 500Hz refresh-rate controls)
oShutdown Procedure (turn off ESC via command)
oRestart Procedure (re-arm and enable ESC via command)
•Live-Telemetry Feedback Signals (Receive)
oDrive Voltage (V)
oDrive Current (A)
oESC MCU Temperature (°C)
oOutput Throttle Duty-Cycle (%)
oInput Throttle Signal (µs)
oMotor eRPM (rpm)
oWarning Signals and Errors
CAN Bus Protocol
Selectable Baud Rate: 1000K (default) / 500K / 250K / 125K / 100K bps
Frame Format: Extended Frame Format (CAN 2.0B) 29-bit identifier or
Standard Frame Format (CAN 2.0A) 11-bit identifier
Endianness: Big Endian
KDE ESC series: UVC
ESC minimum firmware version required: D460115_0404
KDE Device Manager minimum version required: KDEDevice V134.1
Default CAN master ID: 0x00
Default ESC ID: 0x01
System Configuration
To configure the CAN bus network, the system must be correctly wired with each ESC assigned an ID. Please
see the 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

REV 1.1.1 (Last Modified May 25, 2023)
7 | 29 R E V 1.1 . 1
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.

REV 1.1.1 (Last Modified May 25, 2023)
8 | 29 R E V 1.1 . 1
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. The Pixhawk has KDECAN abilities implemented however, the Pixhawk is
used only as a reference. Flight controllers that are open source or internally developed can incorporate the
KDECAN protocol.
Figure 3: Example CAN bus network.
Note: 3.3V CAN transceivers are fully interoperable with 5V CAN transceivers.
ID Assignment
By default, each ESC has an ID of 0x01 and the master (flight controller or CAN bus analyzer) has an ID of 0x00.
This ESC ID is a unique ID used for identifying different ESCs on the CAN BUS network. Each ESC ID must be
assigned before it can operate on the network. This can be accomplished through two methods. The first
method manually assigns each ESC’s ID through the KDE Device Manager. The second method sends an
“Enumeration” message followed by an “Update Node Address” message.

REV 1.1.1 (Last Modified May 25, 2023)
9 | 29 R E V 1.1 . 1
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.
Figure 5: ESC Unique ID Assignment

REV 1.1.1 (Last Modified May 25, 2023)
10 | 29 R E V 1.1 . 1
•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 Description CAN Message (Frame and Data)
Master to ESC (send)
Start ESC Enumeration
Rotated motors return ESC MCU #
Frame ID: 00 00 01 0A
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
ESC to Master (receive)
Motor connected to ESC B is rotated
Frame ID: 00 08 73 0A
Data: 5D 27 57 16 20 33 33 37
ESC to Master (receive)
Motor connected to ESC C is rotated
Frame ID: 00 0B 22 0A
Data: 7C 32 57 13 20 33 33 37
Master to ESC (send)
Set ESC A to ESC ID 2
Frame ID: 00 00 02 09
Data: FB C1 57 15 20 33 33 37
Master to ESC (send)
Set ESC B to ESC ID 3
Frame ID: 00 00 03 09
Data: 5D 27 57 16 20 33 33 37
Master to ESC (send)
Set ESC C to ESC ID 4
Frame ID: 00 00 04 09
Data: 7C 32 57 13 20 33 33 37
Master to ESC (send)
(optional*) ping all ESCs on network
Frame ID: 00 00 01 08
Data: 00
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)
11 | 29 R E V 1.1 . 1
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.
Note: Multiple CAN bus analyzers are available on the market. KDE used the CANalyst 2 during development
for its features and interface.
Data Types
The following data types used in CAN messages are described below:
HA Hexadecimal ASCII [‘0’... ‘9’, ‘A’... ‘F’]
U8 Unsigned char [0...0xFF]
U16 Unsigned short (High byte –byte 0, Low byte –byte 1), [0… 0xFFFF]
U32 Unsigned int (High byte –byte 0, Low byte –byte 3), [0... 0xFFFFFFFF]
U64 Unsigned long (High byte –byte 0, Low byte –byte 7), [0... 0xFFFFFFFFFFFFFFFF]
CRC Algorithm
The error management as described in the CAN protocol is handled entirely by hardware using a Transmit
Error Counter (TEC value, in CAN_ESR register) and a Receive Error Counter (REC value, in the CAN_ESR
register), which get incremented or decremented according to the error condition. For detailed information
about TEC and REC management, refer to the CAN standard.
For more information please refer to STM32 AN4187
Endianness
KDECAN uses Big Endian for multi-byte values.
Example:
Decimal Value: 1000
Hex Value in Big Endian: 0x03E8
(Byte) 0 1 2 3 4 5 6 7
(Hex) [03] [E8] [xx] [xx] [xx] [xx] [xx] [xx]

REV 1.1.1 (Last Modified May 25, 2023)
12 | 29 R E V 1.1 . 1
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.
Figure 8: CAN Bus frame.
Extended Frame ID
Data
Priority
Source
Address
Destination
Address
Object
Address
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x00
0x02
0x00
0x08
MCU
ID0
MCU
ID1
MCU
ID2
MCU
ID3
MCU
ID4
MCU
ID5
MCU
ID6
MCU
ID7
Figure 9: CAN bus frame example.

REV 1.1.1 (Last Modified May 25, 2023)
13 | 29 R E V 1.1 . 1
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. The ESC will
automatically detect the frame type and respond with a standard frame or extended frame based on the
received CAN bus message.
Example:
Direction
Standard Frame ID
Data
Description
Master to ESC
Bin: 0 00010 00000 (Hex: 0x040)
Query FW and HW (obj 0)
ESC to Master
Bin: 1 00010 00000 (Hex: 0x440)
0C 00 01 00 46
ESC ID 2 responds with its FW and HW ver.
Master to ESC
Bin: 0 00011 01000 (Hex: 0x068)
Query MCU ID (obj 8)
ESC to Master
Bin: 1 00011 01000 (Hex: 0x468)
99 70 57 17 20 33 33 37
ESC ID 2 responds with its MCU ID
Master Broadcast
Bin: 0 00001 00011 (Hex: 0x02B)
Broadcast query voltage, current, etc.
ESC ID 2 to Master
Bin: 1 00010 00000 (Hex: 0x44B)
06 27 00 C8 00 00 1B 00
ESC ID 2 responds to message obj 11
ESC ID 3 to Master
Bin: 1 00011 01011 (Hex: 0x46B)
05 f5 01 2C 00 00 19 00
ESC ID 3 responds to message obj 11

REV 1.1.1 (Last Modified May 25, 2023)
14 | 29 R E V 1.1 . 1
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
address
Data length
(Send)
Data Transmission
(Send)
Data Transmission
(Receive)
Data length
(Receive)
Information Definition
(Send/Receive, Refresh Rate)
0
0
No data
ESC information
5
Receive ESC Programming Information
1
2
PWM (Throttle)
None
0
Send Throttle Control (0…2200μs)
50 Hz (20 ms) to 500 Hz (2 ms)
2
0
No data
ESC’s Voltage
2
Receive ESC Input Voltage (V)
10 Hz (100 ms) to 500 Hz (2 ms)
3
0
No data
ESC’s Current
2
Receive ESC Input Current (A)
10 Hz (100 ms) to 500 Hz (2 ms)
4
0
No data
ESC’s RPM
2
Receive ESC eRPM (rpm)
10 Hz (100 ms) to 500 Hz (2 ms)
5
0
No data
ESC’s Temperature
1
Receive ESC MCU Temperature (°C)
10 Hz (100 ms) to 500 Hz (2 ms)
6
0
No data
ESC’s Input Throttle
2
Receive ESC Input Throttle (0…2200μs)
10 Hz (100 ms) to 500 Hz (2 ms)
7
0
No data
ESC’s Output Throttle
1
Receive ESC Output Throttle (%)
10 Hz (100 ms) to 500 Hz (2 ms)
8
0
No data
MCU ID
8
Receive MCU ID Information
9
8
MCU ID
Node address
1
Update Node Address
10
2
Start ESC
Enumeration
MCU ID
8
Start ESC Enumeration (send MCU ID
back when motor is rotated)
11
0
No data
ESC Voltage, Current,
RPM, Temperature, Warn
8
Receive ESC’s Voltage, Current, RPM,
Temperature, and Warning (10-500 Hz)
32
0
No data
The Shutdown
Procedure is Invoked
1
Immediately turn off ESC controls (stop
all MOSFET channels) and remain idle
until restart command is issued
33
0
No data
The Restart Procedure
is Invoked
1
Restart the ESC controls and re-enable
arming and throttle control
34
0
No data
Warnings and Errors
1
Receive ESCs Warning and Errors
Figure 10: CAN Bus Message Table
Note: Figures left empty are not applicable.

REV 1.1.1 (Last Modified May 25, 2023)
15 | 29 R E V 1.1 . 1
0: Get ESC information (U64)
MASTER TO ESC:
Extended Frame ID
Priority
Source
Address
Destination
Address
Object
Address
0x00
0x00
0x02
0x00
ESC TO MASTER (Answer)
Extended Frame ID
Data
Priority
Source
Address
Destination
Address
Object
Address
Byte0
Byte1
Byte2
Byte3
Byte4
0x00
0x02
0x00
0x00
FW0
FW1
HW0
HW1
Mode
Example:
Message
Transmission:
Frame ID:
Data:
Data Decimal
Equivalent:
Data Description:
Master to ESC:
00 00 02 00
00 00 00 00 00 00 00 00
Master sends request
ESC to Master:
00 02 00 00
0C 00 01 00 46
ESC replies with firmware 0x 0C 00 and
hardware 01 00
1: Set PWM (U16)
MASTER TO ESC:
Extended Frame ID
Data
Priority
Source
Address
Destination
Address
Object
Address
Byte0
Byte1
0x00
0x00
0x02
0x01
0~0x08
0~0x98
ESC TO MASTER(Answer)
Extended Frame ID
Priority
Source
Address
Destination
Address
Object
Address
0x00
0x02
0x00
0x01
Example:
Message
Transmission:
Frame ID:
Data:
Data Decimal
Equivalent:
Data Description:
Master to ESC:
00 00 02 01
05 FC 00 00 00 00 00 00
1532
Send 1532 μs to the ESC
ESC to Master:
The ESC sets the throttle to the
specified pulse width.

REV 1.1.1 (Last Modified May 25, 2023)
16 | 29 R E V 1.1 . 1
2: Get Voltage (U16)
MASTER TO ESC:
Extended Frame ID
Priority
Source
Address
Destination
Address
Object
Address
0x00
0x00
0x02
0x02
ESC TO MASTER(Answer)
Extended Frame ID
Data
Priority
Source
Address
Destination
Address
Object
Address
Byte0
Byte1
0x00
0x02
0x00
0x02
V0
V1
Example:
Message
Transmission:
Frame ID:
Data:
Data Decimal Equivalent:
Data Description:
Master to ESC:
00 00 02 02
00 00 00 00 00 00 00 00
Requests ESC voltage.
ESC to Master:
00 02 00 02
06 2D
1581
1581 / 100 = 15.81 V
3: Get Current (U16)
MASTER TO ESC:
Extended Frame ID
Priority
Source
Address
Destination
Address
Object
Address
0x00
0x00
0x02
0x03
ESC TO MASTER(Answer)
Extended Frame ID
Data
Priority
Source
Address
Destination
Address
Object
Address
Byte0
Byte1
0x00
0x02
0x00
0x03
C0
C1
Example:
Message
Transmission:
Frame ID:
Data:
Data Decimal
Equivalent:
Data Description:
Current = #/100
Master to ESC:
00 00 02 03
00 00 00 00 00 00 00 00
ESC to Master:
00 02 00 03
00 4C
76
76 / 100 = 0.76 A
00 9D
157
1.57 A
00 A2
162
1.62 A
00 AA
170
1.70 A
00 AE
174
1.74 A

REV 1.1.1 (Last Modified May 25, 2023)
17 | 29 R E V 1.1 . 1
4: Get RPM (U16)
MASTER TO ESC:
Extended Frame ID
Priority
Source
Address
Destination
Address
Object
Address
0x00
0x00
0x02
0x04
ESC TO MASTER(Answer)
Extended Frame ID
Data
Priority
Source
Address
Destination
Address
Object
Address
Byte0
Byte1
0x00
0x02
0x00
0x04
RPM0
RPM1
Example:
Message
Transmission:
Frame Id:
Data:
Data Decimal
Equivalent:
Data Description:
[Mechanical RPM = eRPM * 60
* 2 / # of magnetic motor poles]
Master to ESC:
00 00 02 04
00 00 00 00 00 00 00 00
ESC to Master:
00 02 00 04
01 DD
477
477 * 60 * 2 / 22 =
2,601 rpm
02 61
609
3,321 rpm
02 94
660
3,600 rpm
02 EF
751
4,096 rpm
02 FA
762
4,156 rpm
5: Get Temperature (U8)
MASTER TO ESC:
Extended Frame ID
Priority
Source
Address
Destination
Address
Object
Address
0x00
0x00
0x02
0x05
ESC TO MASTER(Answer)
Extended Frame ID
Data
Priority
Source
Address
Destination
Address
Object
Address
Byte0
0x00
0x02
0x00
0x05
Temp0
Example:
Message
Transmission:
Frame ID:
Data:
Data Decimal Equivalent:
Data Description:
Master to ESC:
00 00 02 05
00 00 00 00 00 00 00 00
ESC to Master:
00 02 00 05
1E
30
30 degrees Celsius

REV 1.1.1 (Last Modified May 25, 2023)
18 | 29 R E V 1.1 . 1
6: Get Input Throttle (U16)
MASTER TO ESC:
Extended Frame ID
Priority
Source
Address
Destination
Address
Object
Address
0x00
0x00
0x02
0x06
ESC TO MASTER(Answer)
Extended Frame ID
Data
Priority
Source
Address
Destination
Address
Object
Address
Byte0
Byte1
0x00
0x02
0x00
0x06
IT0
IT1
Example:
Message
Transmission:
Frame ID:
Data:
Data Decimal Equivalent:
Data Description:
Master to ESC:
00 00 02 06
00 00 00 00 00 00 00 00
ESC to Master:
00 02 00 06
05 1C
1308
1308 μs
05 E6
1510
1510 μs
06 B2
1714
1714 μs
07 7D
1914
1914 μs
08 4B
2123
2123 μs

REV 1.1.1 (Last Modified May 25, 2023)
19 | 29 R E V 1.1 . 1
7: Get Output Throttle (U16)
MASTER TO ESC:
Extended Frame ID
Priority
Source
Address
Destination
Address
Object
Address
0x00
0x00
0x02
0x07
ESC TO MASTER(Answer)
Extended Frame ID
Data
Priority
Source
Address
Destination
Address
Object
Address
Byte0
0x00
0x02
0x00
0x07
OT0
Example:
Message
Transmission:
Frame ID:
Data:
Data Decimal Equivalent:
Data Description:
Master to ESC:
00 00 02 07
00 00 00 00 00 00 00 00
ESC to Master:
00 02 00 07
02 22
34
34 %
02 37
55
55 %
02 4C
76
76 %
02 61
97
97 %
02 64
100
100 %
8: Get All MCU IDs (U64)
MASTER TO ESC:
Extended Frame ID
Priority
Source
Address
Destination
Address
Object
Address
0x00
0x00
0x01
0x08
ESC TO MASTER(Answer)
Extended Frame ID
Data
Priority
Source
Address
Destination
Address
Object
Address
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x00
0x02
0x00
0x08
MCU
ID0
MCU
ID1
MCU
ID2
MCU
ID3
MCU
ID4
MCU
ID5
MCU
ID6
MCU
ID7
Example:
Message
Transmission:
Frame ID:
Data:
Data Decimal
Equivalent:
Data Description:
Master to ESC:
00 00 01 08
00 00 00 00 00 00 00 00
ESC to Master:
00 02 00 08
7d da 57 18 20 33 33 37
All ESCs respond with their MCU ID
ESC to Master:
00 03 00 08
5b 77 57 13 20 33 33 37
All ESCs respond with their MCU ID

REV 1.1.1 (Last Modified May 25, 2023)
20 | 29 R E V 1.1 . 1
9: Update Node Address
MASTER TO ESC:
Extended Frame ID
Data
Priority
Source
Address
Destination
Address
Object
Address
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x00
0x00
XX
0x09
MCU
ID0
MCU
ID1
MCU
ID2
MCU
ID3
MCU
ID4
MCU
ID5
MCU
ID6
MCU
ID7
XX = NEW NODE ADDRESS
ESC TO MASTER(Answer)
Priority
Source
Address
Destination
Address
Object
Address
Byte0
0x00
XX
0x00
0x09
New Node
Address
Example:
Message
Transmission:
Frame ID:
Data:
Data Decimal Equivalent:
Data Description:
Master to ESC:
00 00 02 09
7d da 57 18 20 33 33 37
ESC to Master:
00 02 00 09
02
The ESC responds with 2 (its new
node address)
10: Start ESC Enumeration
MASTER to ESC:
Priority
Source
Address
Destination
Address
Object
Address
Byte0
Byte1
0x00
0x00
0x01
0x0A
0~0xFF
0~0xFF
ESC to MASTER(Answer)
Extended Frame ID
Data
Priority
Source
Address
Destination
Address
Object
Address
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x00
0x02
0x00
0x0A
MCU
ID0
MCU
ID1
MCU
ID2
MCU
ID3
MCU
ID4
MCU
ID5
MCU
ID6
MCU
ID7
Example:
Message
Transmission:
Frame ID:
Data:
Data Decimal Equivalent:
Data Description:
Master to ESC:
00 00 01 0a
27 10 00 00 00 00 00 00
10,000
Broadcast Enum message for
10,000 msec
ESC to Master:
00 02 00 0a
7d da 57 18 20 33 33 37
When the motor is rotated, the
ESC responds with its MCU ID