Gen2/Motor Controller/CAN Diagnostics

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"