XRotor CAN ESC (Initial Setup using DRONECAN GUI)

Thank you for purchasing the Hobbywing XRotor CAN series ESC. These high-performance CAN ESCs are powerful but require proper initial configuration before use. Most connection/telemetry/motor response issues stem from the factory default settings.

Important Notes Before Starting

• ESCs ship with 500 kbps baudrate and all Node IDs = 1 (this is the #1 cause of setup problems).
• You must change the baudrate to 1 Mbps for normal operation after configuration.
• Use DroneCAN GUI Tool or Hobbywing DataLink device (recommended)
• Always configure one ESC at a time with only ESCs connected to the CAN bus initially (disconnect GPS, compass, etc.).
• For multi-motor builds (especially 6+ motors), each ESC needs a unique ThrottleID and NodeID.

Step-by-Step Configuration Instructions

1. Hardware Connections

• Connect the ESC(s) to your flight controller via CAN bus.
• Power the system (ensure proper voltage for your setup).
• Use a USB-CAN adapter (e.g., compatible with DroneCAN GUI).

2. Open Configuration Tool

• Launch DroneCAN GUI (or Hobbywing DataLink).
• Set the initial baudrate to 500 kbps to detect the ESCs.

3. Detect and Fix Default Settings

• Scan for devices. You should see your ESC(s) with Node ID = 1.
• For each ESC:
  • Set a unique NodeID (e.g., 10, 11, 12, etc. — do not reuse numbers).
  • Set ThrottleID to match your motor output channel (important for proper mapping).
  • Change CAN Baudrate from 500 kbps to 1000 kbps (1 Mbps).
• Save parameters and reboot the ESC.

4. Key Parameters to Verify/Set

• ESC_CALIBRATE → Set to 0 (for normal operation).
• Msg1Rate (RPM) → Set appropriately (e.g., 10–50 Hz). Must be higher than Msg2Rate.
• Msg2Rate (Current/Voltage/Temp) → Set lower than Msg1Rate.
• For 6+ motor setups: Calculate and set CAN_D1_UC_ESC_BM parameter correctly (refer to your flight controller docs, e.g., ArduPilot/Pixhawk).

5. Test Telemetry & Motor Response

• Re-scan at 1 Mbps.
• Verify full telemetry (RPM, current, voltage, temperature) appears.
• Test motor spin-up in a safe environment (props off for initial tests).
• Monitor for CAN bus stability.

6. Flight Controller Integration

• In your flight controller parameters (e.g., ArduPilot):
  • Enable DroneCAN ESC support.
  • Map ESC outputs correctly.
  • Set CAN bus bitrate to 1 Mbps.

Common Issues & Fixes

• No motor response / No telemetry: Confirm baudrate is switched to 1 Mbps and IDs are unique.
• ESCs not detected properly: Configure with only ESCs on the bus first. Restart tools and flight controller.
• CAN driver instability: Set ESC_CALIBRATE = 0. Reduce other CAN devices during initial setup.
• Incomplete telemetry: Adjust Msg1Rate > Msg2Rate.
• Multi-ESC builds: Configure one-by-one. Double-check ThrottleID/NodeID matching.

Video Guide 

We are preparing a detailed video walkthrough for setup. It will cover the exact steps above, including DroneCAN GUI screenshots and common pitfalls (especially Node ID updates).