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Toshiba CAN ESCs

..  youtube:: mPRICmE3kyk
    :width: 100%

ToshibaCAN ESCs are high-end ESCs that allow control and feedback using a custom CAN protocol. Some additional specifications:

  • FOC which should result in about 10% longer flight times while also being quieter than non-FOC ESCs
  • Up to 7S batteries (future versions are planned for up to 12S), 50Amps
  • Up to 12 motors
  • Fast sync issue recovery time (100ms to 150ms)
  • Relatively lightweight
  • Designed and manufactured in Japan


Support for these ESCs is included in Copter-3.7 (and higher), Plane-3.10 (and higher) and Rover-3.5 (and higher)

Where To Buy

These ESCs can be purchased by directly contacting the following companies (replace "AT" with "@" in the email addresses)

  • Toshiba USA: Alan.Li AT
  • Hikari Alphax Japan: masaki_nakamura AT

CAN splitter boards are also required, the boards used in the above video were provided by EAMS Lab but these are also not readily available for sale.

Connection and Configuration

  • ESCs should be daisy chained together using CAN splitter boards and then one 4-pin CAN cable should be connected to the flight controller's CAN port. Note that the last splitter board has a terminator (i.e. no port) on one side.


If using a Cube autopilot, the CAN1 and CAN2 labels are reversed. These instructions assume the ESCs are connected to the CAN1 port which is labelled "CAN2" on Cube autopilots


[site wiki="copter,rover"] - Set :ref:`MOT_PWM_MIN <MOT_PWM_MIN>` = 1000 and :ref:`MOT_PWM_MAX <MOT_PWM_MAX>` = 2000 so ArduPilot uses an output range that matches the ESCs input range [/site] [site wiki="copter"] - Set :ref:`MOT_SPIN_ARM <MOT_SPIN_ARM>` = 0.03 meaning the motors will spin at 3% of full thrust when armed - Set :ref:`MOT_SPIN_MIN <MOT_SPIN_MIN>` = 0.05 meaning the motors will spin at no less than 5% of full thrust when flying [/site] [site wiki="plane"] - Set SERVOx_MIN = 1000 and SERVOx_MAX = 2000 for each ESC connected (x corresponds to the ESC number) so ArduPilot uses an output range that matches the ESCs input range [/site]

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