Difference between revisions of "Gen2/Motor Controller/CAN Diagnostics"
From Unofficial Zero Manual
< Gen2 | Motor Controller
BrianTRice (talk | contribs) (link update) |
(No difference)
|
Latest revision as of 17:40, 22 April 2020
Via the MBB logs or the console, emergency (EMCY) entries related to SEVCON will be CAN controller events from the Sevcon Gen4 drives.
- Example logged events
- via Re: Sudden braking followed by no motor/throttle response on highway(2016 FXS)
07004 06/03/2017 09:30:18 SEVCON CAN EMCY Frame Error Code: 0x5000, Error Reg: 0x40 Sevcon Error Code: 0x46c3, Data: 0x04 0x01 0x00 , Unknown 07005 06/03/2017 09:30:18 SEVCON CAN EMCY Frame Error Code: 0x 0, Error Reg: 0x00 Sevcon Error Code: 0x46c3, Data: 0x00 0x00 0x99 , Unknown 07006 06/03/2017 09:30:18 SEVCON CAN EMCY Frame Error Code: 0x5000, Error Reg: 0x40 Sevcon Error Code: 0x46c3, Data: 0x04 0x02 0x00 , Unknown 07007 06/03/2017 09:30:18 SEVCON CAN EMCY Frame Error Code: 0x 0, Error Reg: 0x00 Sevcon Error Code: 0x46c3, Data: 0x00 0x00 0x99 , Unknown 07008 06/03/2017 09:30:18 SEVCON CAN EMCY Frame Error Code: 0x5000, Error Reg: 0x40 Sevcon Error Code: 0x52c3, Data: 0x00 0x00 0x00 , Unknown 07009 06/03/2017 09:30:18 SEVCON CAN EMCY Frame Error Code: 0x5000, Error Reg: 0x40 Sevcon Error Code: 0x46c3, Data: 0x0c 0x10 0x00 , Unknown 07010 06/03/2017 09:30:18 Restarting Sevcon to clear cutout fault 07011 06/03/2017 09:30:18 Module 00 vmod: 112.127V, batt curr: 65498A 07012 06/03/2017 09:30:18 Module 01 vmod: 112.156V, batt curr: 65506A 07013 06/03/2017 09:30:19 Sevcon Turned Off
- CAN message examples
ID b0 b1 b2 b3 b4 b5 b6 b7 "81";"00 31 04 C3 4D 00 00 00" "81";"00 31 14 C3 4D 00 00 00" "81";"00 82 10 0F 53 02 00 00" "82";"00 10 01 54 4F 00 40 00" "82";"00 10 11 54 4F 00 40 00" "82";"00 31 04 C2 51 00 00 00" "82";"00 31 04 C2 51 00 04 00" "82";"00 31 04 C3 4D 00 00 00" "82";"00 31 05 C3 4D 00 00 00" "82";"00 31 15 C3 4D 00 00 00" "82";"30 81 10 0B 53 01 00 00"
- Bytes b1+b0 (switch bytes)
- Bytes b1+b0 (switch bytes) describes CANopen error code according to DS-301
| Error code (hex) | Error description |
|---|---|
| 00xx | Error Reset / No Error |
| 10xx | Generic Error |
| 2xxx | Current |
| 3xxx | Voltage |
| 4xxx | Temperature |
| 50xx | Device Hardware |
| 6xxx | Device Software |
| 70xx | Additional Modules |
| 8xxx | Monitoring |
| 90xx | External Error |
| F0xx | Additional Functions |
| FFxx | Device Specific |
- Byte b2
- Byte b2 is error register, bit-wise coding, also according to DS-301
| Bit | Error cause |
|---|---|
| 0 | Generic Error |
| 1 | Current |
| 2 | Voltage |
| 3 | Temperature |
| 4 | Communication Error |
| 5 | Device Profile Specific |
| 6 | Reserved (always 0) |
| 7 | Manufacturer Specific |
- Bytes b5-b7
- If any of bytes b5-b7 are not 0x00 means error is set.
- If bytes b5-b7 are all 00 it means the error is reset.
- Might be only b6?
- Bytes b4+b3 (switched bytes)
- Bytes b4+b3 (switched bytes) describes Sevcon specific errors
| Code | Interpretation | Notes |
|---|---|---|
| 0x2401 | Login | |
| 0x3441 | Host SW Upgrade | |
| 0x3442 | DSP SW Upgrade | |
| 0x34C1 | Watchdog Reset | |
| 0x45C1 | BDI Warning | Battery Discharge Indicator's remaining charge is less than warning or cutout levels. Charge the battery. |
| 0x45C2 | BDI Cutout | |
| 0x45C3 | Low battery | |
| 0x45C4 | High battery | |
| 0x45C5 | High capacitor | |
| 0x45C6 | Vbat below rated min | Charge the battery! Or the B+ or B- terminals have been disconnected or damaged. |
| 0x45C7 | Vbat above rated max | The battery voltage is detected above 117V or 118V; discharge it through another safe load. |
| 0x45C8 | Vcap above rated max | |
| 0x45C8 | Vcap above rated max | |
| 0x45C9 | Motor low voltage | |
| 0x45CA | Motor high voltage | |
| 0x4601 | Device too cold | The controller (or motor?) needs to warm up before operating. |
| 0x4602 | Device too hot | The controller (or motor?) is too hot; reduce power to cool it down; check cooling fin bracket. |
| 0x4603 | Motor in thermal c/b | The motor's defined temperature limit has been exceeded so power cutbacks are engaging. |
| 0x4681 | Preop | |
| 0x46C3 | Ride-Through Fault | Low-voltage ride through? |
| 0x4781 | Anon EMCY | |
| 0x47C1 | Service Required | |
| 0x4881 | Seat | |
| 0x4882 | Two Dir Fault | |
| 0x4883 | SRO Fault | |
| 0x4884 | Sequence Fault | |
| 0x4885 | FS1 Recycle Fault | |
| 0x4941 | Low oil | |
| 0x4981 | Throttle Fault | |
| 0x4B81 | Anon EMCY | |
| 0x4C41 | Too Many Slaves | |
| 0x4DC3 | Supply Critical | |
| 0x4F01 | Bad State | |
| 0x4F02 | EMCY Fail | |
| 0x4F41 | Internal Fault | |
| 0x4F42 | Out of Memory | |
| 0x4F43 | General DSP Error | |
| 0x4F44 | Timer Error | |
| 0x4F45 | Queue Error | |
| 0x4F46 | Sched Error | |
| 0x4F47 | DSP Heartbeat | |
| 0x4F48 | IO SS Error | |
| 0x4F49 | GIO SS Error | |
| 0x4F4A | LCM SS Error | |
| 0x4F4B | LCP SS Error | |
| 0x4F4C | OBD SS Error | |
| 0x4F4D | VEHAPP SS Error | |
| 0x4F4E | DMC SS Error | |
| 0x4F4F | TracApp SS Error | |
| 0x4F50 | New PF Detected | |
| 0x4F51 | DSP not detected | |
| 0x4F52 | DSP Comms Error | |
| 0x4F53 | App Mgr SS Error | |
| 0x4F55 | DSP param | |
| 0x4F81 | Anon EMCY | |
| 0x5041 | Bad NVM Data | |
| 0x5042 | VPDO out of range | |
| 0x5043 | Param fixed range error | |
| 0x5044 | Param dyn range error | |
| 0x5081 | Invalid Steer Switches | |
| 0x5101 | Line Contactor o/c | |
| 0x5141 | Line Contactor welded | |
| 0x5181 | Dig In Wire Off | |
| 0x5182 | Alg In Wire Off | |
| 0x5183 | Alg Out Over I | |
| 0x5184 | Alg Out On with No FS | |
| 0x5185 | Alg Out Off with FS | |
| 0x51C1 | Power Supply Interrupt | |
| 0x51C2 | Precharge fail | |
| 0x52C1 | Encoder fault | Check the encoder wiring to the motor |
| 0x52C3 | Current Control Fault | Can't control the currents on the motor. Check the motor load and wiring; check controller programming. |
| 0x5301 | CANbus Fault | |
| 0x5302 | No Bootup | |
| 0x5303 | LPRX CAN | |
| 0x5304 | LPTX CAN | |
| 0x5305 | HPRX CAN | |
| 0x5306 | HPTX CAN | |
| 0x5307 | CAN Overrun | |
| 0x5308 | CAN Off | |
| 0x5309 | Nodeguard Error | |
| 0x530A | PDO Short | |
| 0x530B | HBeat Error | |
| 0x530C | CANopen Device State | |
| 0x530D | CAN Error State | |
| 0x530E | SDO Handle Error | |
| 0x530F | SDO Timeout | |
| 0x5310 | SDO Abort | |
| 0x5311 | SDO State Error | |
| 0x5312 | SDO Toggle Error | |
| 0x5313 | SDO Rx Error | |
| 0x5314 | SDO Length Error | |
| 0x5315 | SDO Tx Error | |
| 0x5316 | CANopen Ev Unknown | |
| 0x5317 | SDO Bad Source | |
| 0x5318 | SDO Bad Error No | |
| 0x5319 | Mtr Slv in Wrong State | |
| 0x5341 | Wrong DSP protocol | |
| 0x5342 | Osc WDog Tripped | |
| 0x5343 | Flt o/flow | |
| 0x5381 | Anon EMCY | |
| 0x54C1 | DSP Overvoltage | |
| 0x54C2 | DSP PF Fault | |
| 0x54C3 | Mosfet s/c M1 Top | |
| 0x54C4 | Mosfet s/c M1 Bottom | |
| 0x54C5 | Mosfet s/c M2 Top | |
| 0x54C6 | Mosfet s/c M2 Bottom | |
| 0x54C7 | Mosfet s/c M3 Top | |
| 0x54C8 | Mosfet s/c M3 Bottom | |
| 0x54C9 | Mosfet tests incomplete | |
| 0x5741 | Invalid Rating | |
| 0x5781 | Anon EMCY |
- Example
ID b0 b1 b2 b3 b4 b5 b6 b7 "82";"00 31 04 C2 51 00 04 00"
- Node id 2 sends emergency error.
- Error code: 0x3100 (b1+b0) meaning "Voltage" error category
- Error cause: 0x04 (b2) bit 2 set meaning "Voltage" error cause
- Sevcon error: 0x51C2 meaning "Precharge fail"
