Status messages

info

• All here listed messages are multicast
• All the values are in big-endian

warning

Payload byte position is not corresponding with byte position in transfer layer (CAN, UART, USB, bluetooth...) Before continuing, read carefully how to create a message for:

• CAN BUS
• UART

Relative units

To speed up whole communication process by reducing transfered data, some data are not transferred in foating decimal points but in relative units and range. Range is number in real units (such as Volts and Amps) sent in message Range and reference. Current range is common for all transferred currents and the voltage range is common for all transferred voltages.

How to calculate absolute value from relative units:

V_MEAS = ( relative value / 32767 ) * V_RANGE

If the range is specified in the message description, use that range.

note

Range examples:
Voltage and current range is constant for each voltage and current specification. If you use only one controller type. You can hardcode range.

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 - range for voltage values
2-3	uint16	Irange - range for current values
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 scaled to -32767 - 32767
2-3	uint16	/driver/totallimit scaled to 0 - 65535
4-5	uint16	/driver/ptctemp [-] (no scaling)
6	uint8	/driver/imult scaled to 0 - 255
7	uint8	/driver/umult scaled to 0 - 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 in [mAh]

Status message - Motor 1

info

SID = 30 | multicast message

Payload byte	Datatype	Description
0-1	int16	Amplitude of motor current (q+d axis) in relative units
2-3	int16	/driver/motor/voltage in relative units
4-7	int32	/driver/motor/energy in [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 (output from pid_iq)
2-3	int16	currentq reference (input to pid_iq)
4-5	int16	/driver/motor/currentd in relative units (output from pid_id)
6-7	int16	currentd reference (input to pid_id)

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