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

Interface Configuration

Interface:CAN BusUARTHost addr:Controller addr:

Advanced

SID offset:n (addr bits):

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

Controller sendingCAN ID: 0x0D8(27 << 3) + 0 controller address

Datagram byte	Value / type	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]

Changed in driver 6

The Uref field carries the resolved voltage reference [V] (the voltage actually used by the driver), not the raw uref parameter. With uref = 0 it streams the available bus voltage; hosts that read this field back as the parameter value must be updated.

Status Message - Driver State 1

Controller sendingCAN ID: 0x0D0(26 << 3) + 0 controller address

Datagram byte	Value / type	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

Controller sendingCAN ID: 0x120(36 << 3) + 0 controller address

Datagram byte	Value / type	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

Controller sendingCAN ID: 0x0E0(28 << 3) + 0 controller address

Datagram byte	Value / type	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

Controller sendingCAN ID: 0x0F0(30 << 3) + 0 controller address

Datagram byte	Value / type	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

Controller sendingCAN ID: 0x0F8(31 << 3) + 0 controller address

Datagram byte	Value / type	Description
0-1	int16	/driver/power in relative units. Range: Urange*Irange.
2-3	int16	Mechanical angle [radian]. Range: 3.14.
4-5	int16	/driver/motor/rpmf. Range: int16 * 8.
6-7	int16	/driver/motor/odo. Range: 1.

Status Message - Motor 3

Controller sendingCAN ID: 0x100(32 << 3) + 0 controller address

Datagram byte	Value / type	Description
0-1	int16	/driver/motor/currentqf in relative units
2-3	int16	/driver/motor/voltageq in relative units
4-5	int16	/driver/motor/currentdf in relative units
6-7	int16	/driver/motor/voltaged in relative units

Status Message - Motor 4

Controller sendingCAN ID: 0x108(33 << 3) + 0 controller address

Datagram byte	Value / type	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