Sevcon Controller CAN Diagnostics

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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"