Status Messages

This document describes the status messages format of the ESCx controller.

info

• All listed datagram types are multicast
• All listed payloads use big-endian format

warning

Payload byte positions differ from transfer layer byte positions (CAN, UART, USB, Bluetooth...) Before implementation, carefully review message creation guides for:

• CAN BUS
• UART

Relative Units

To optimize communication bandwidth, some data uses relative units and ranges instead of floating-point values. Ranges represent real units (Volts, Amps) and are transmitted in the Range and Reference message. Current range applies to all current values, and voltage range applies to all voltage values.

Converting relative units to absolute values:

V_MEAS = (relative value / 32767) � V_RANGE

Use the specified range when provided in the message description.

note

Range Examples: Voltage and current ranges remain constant for each specification. With a single controller type, ranges can be hardcoded.

Example:

• esc3-sc1_24dxa0840
  • U_range = 80
  • I_range = 400

Controller Voltage Range	Urange
60V	60
80V	80
100V	100

Controller Current Range	Irange
100A	100
400A	400
600A	600

Status Message - Range and Reference

info

SID = 27 | multicast message

Payload byte	Datatype	Description
0-1	uint16	Urange - voltage range
2-3	uint16	Irange - current range
4-5	uint16	/driver/motor/Uref [V]
6-7	uint16	/driver/motor/Iref [A]

Status Message - Driver State 1

info

SID = 26 | multicast message

Payload byte	Bit / Datatype	Description
0	bit 0-3	/driver/enabled
0	bit 4-7	Driver algorithm (BLDC: bit4 enabled, VECTOR: bit5 enabled)
1	uint8	/driver/stat
2	uint8	/driver/mode
3	int8	/driver/temp
4-5	uint16	/driver/limit
6-7	uint16	/driver/error

Status Message - Driver State 2

info

SID = 36 | multicast message

Payload byte	Datatype	Description
0-1	int16	/driver/cmd (-32767 to 32767)
2-3	uint16	/driver/totallimit (0 to 65535)
4-5	uint16	/driver/ptctemp [-] (no scaling)
6	uint8	/driver/imult (0 to 255)
7	uint8	/driver/umult (0 to 255)

Status Message - Supply 1

info

SID = 28 | multicast message

Payload byte	Datatype	Description
0-1	int16	/driver/supply/currentf in relative units
2-3	int16	/driver/supply/voltage in relative units
4-7	int32	/driver/supply/cap [mAh]

Status Message - Motor 1

info

SID = 30 | multicast message

Payload byte	Datatype	Description
0-1	int16	Motor current amplitude (q+d axis) in relative units
2-3	int16	/driver/motor/voltage in relative units
4-7	int32	/driver/motor/energy [J]

Status Message - Motor 2

info

SID = 31 | multicast message

Payload byte	Datatype	Description	Range
0-1	int16	/driver/power in relative units	Urange�Irange
2-3	int16	Mechanical angle [radian]	3.14
4-5	int16	/driver/motor/rpmf	int16 � 8
6-7	int16	/driver/motor/odo	1

Status Message - Motor 3

info

SID = 32 | multicast message

Payload byte	Datatype	Description
0-1	int16	/driver/motor/currentq in relative units (pid_iq output)
2-3	int16	currentq reference (pid_iq input)
4-5	int16	/driver/motor/currentd in relative units (pid_id output)
6-7	int16	currentd reference (pid_id input)

Status Message - Motor 4

info

SID = 33 | multicast message

Payload byte	Datatype	Description
0-1	int16	Rthermistor [ohm]
2-3	int16	/driver/motor/mres [mohm]
4-5	int16	Actual motor torque [Nm] � 100
6-7	int16	Maximum possible torque [Nm] � 100