车辆故障代码表

Vehicle Fault Code Table

序
故障代码 转向措施 行走措施
号 故障名称 可能原因 解决办法 备注
Fault Steer Fault Traction Fault
No Fault Name Possible Reason Solution Note
Code Action Action
.
Hardware Fault 内部硬件故障
1 B 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
硬件故障 Internal hardware failure
控制器过流 电机UVW短路
2 C 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
Controller Overcurrent Motor UVW short circuit
1.UVW对车体漏电
2.控制器故障
电流传感器故障
3 D 1.UVW leaks electricity to the car 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
Current Sense Fault
body
2. Controller fault
1.外界负载阻止电容器充电
2.控制器故障
预充电故障
4 E 1. The external load prevents the 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
Precharge Failed
capacitor from charging
2. Controller fault
控制器在恶劣环境下运行 让传感器温度高于－35℃
控制器严重低温 报警 不需响应 No
5 F The controller operates in harsh Keep the sensor temperature
Controller Severe Undertemp Warning Only Action
environments above -35 ° C
1.控制器没有合理固定
2.车辆极度过载
3.控制器在恶劣环境下运行
Controller Severe Overtemp 1. The controller is not properly 报警然后关闭
6 10 控制器严重过温 secured 重启钥匙开关 Cycle KSI Warning then 停止 Stop
2. The vehicle is extremely Shutdown
overloaded
3. The controller operates in a harsh
environment
1.电池故障或者接线不好
2.供电回路上其他设备拉低电压
3.操作过程中切断了电池
4. B＋保险烧掉或者转向接触器没闭
合
1. The battery is faulty or the cables
严重欠压
7 11 are improperly connected 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
Severe Undervoltage
2. Lower the voltage of other
devices on the power supply circuit
3. Disconnect the battery during
operation
4. The B+ safety is burned off or the
steering contactor is not closed
1.再生制动时，电池或电池线缆内
阻过大
2.再生制动时，电池未连接
严重过压 1. During regenerative braking, the
8 12 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
Severe Overvoltage internal resistance of the battery or
battery cable is too high
2. The battery is not connected
during regenerative braking
1.控制器固定不合理或冷却不合理
2.车辆负载过大
3.控制器运行在恶劣环境下
温度小于85℃ 减速运行
Controller Overtemp 1. The controller is improperly 只报警
9 16 The temperature is less than 85 ° Reduce
控制器过温 secured or improperly cooled Warning Only
C Speed
2. Vehicle load is too large
3. The controller runs in a harsh
environment
5V供电的外部负载阻抗过小 报警然后关闭
5V Supply Failure
10 19 The external load impedance of the 重启钥匙开关 Cycle KSI Warning then 停止 Stop
５Ｖ供电故障
5V power supply is too small Shutdown
10V供电的外部负载阻抗过小 报警然后关闭
10V Supply Failure
11 1A The external load impedance of the 重启钥匙开关 Cycle KSI Warning then 停止 Stop
10V供电故障
10V power supply is too small Shutdown
1.电机运行在极端环境下
2.电机温度控制参数误调
报警然后关闭
Severe Motor Over Temp 1. The motor runs in extreme
12 1B 重启钥匙开关 Cycle KSI Warning then 停止 Stop
电机严重过温 environments
Shutdown
2. Motor temperature control
parameters are misadjusted
 1.电机运行在极端环境下
2.电机温度控制参数误调
传感器温度回到故障值以下 减速运行
Motor Temp Hot Cutback 1. The motor runs in extreme 只报警
13 1C The temperature of the sensor Reduce
电机过热减速 environments Warning Only
falls below the fault value Speed
2. Motor temperature control
parameters are misadjusted
1.传感器没接好
2.如果没有使用电机温度传感器，
应关闭传感器使能参数
Motor Temp 电机温度回到正常范围 减速运行
1. The sensor is not connected 只报警
14 1D Sensor Fault Motor temperature returned to Reduce
properly Warning Only
电机温度传感器故障 normal range Speed
2. If the motor temperature sensor
is not used, the sensor enabling
parameter should be turned off
1.连接负载开路或短路
2.连接管脚污损
Contactor 报警然后关闭
3.错误的接线
15 1F Open/Short 重启钥匙开关 Cycle KSI Warning then 停止 Stop
1. Open or short circuit the load
接触器断开／短路 Shutdown
2. Connection pins are stained
3. Incorrect cables are connected
1.故障输出端口外部阻抗过小
2.控制器故障 报警然后关闭
Fault Output Open/Short
16 23 1. The external impedance of the 重启钥匙开关 Cycle KSI Warning then 停止 Stop
故障输出断开／短路
faulty output port is too small Shutdown
2. The controller is faulty
1.转向电机堵转
2.编码器故障
3.电缆卷曲或接线错误
4.编码器供电故障
报警然后关闭
电机堵转 1. The steering motor is blocked
17 24 重启钥匙开关 Cycle KSI Warning then 停止 Stop
Motor Stalled 2. The encoder is faulty
Shutdown
3. The cable is curled or connected
incorrectly
4. The power supply to the encoder
is faulty
1.电机某相开路
2.线缆卷曲或接线故障
报警然后关闭
电机开路 3.控制器故障
18 25 重启钥匙开关 Cycle KSI Warning then 停止 Stop
Motor Open 1. A phase of the motor is open
Shutdown
2. The cable is curled or faulty
3. The controller is faulty
1.转向接触器粘连
2.有其他的电压源（比如外部预充
电电阻）正向电容提供电流
Contactor
1. Steering contactor adhesion
19 26 Welded 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
2. There are other voltage sources
接触器粘连
(such as external precharge
resistors) that provide current
forward to the capacitor
1.转向接触器短时间闭合但接着打
开了
2.转向接触器氧化
3.电容有外部负载施加从而阻止了
电容充电
报警然后关闭
Contactor Opened 1. The steering contactor is closed
20 27 重启钥匙开关 Cycle KSI Warning then 停止 Stop
接触器跳开 for a short time but then opened
Shutdown
2. Oxidation of the steering
contactor
3. The capacitor has an external
load applied, which prevents the
capacitor
1.接触器未吸合 from charging
2.转向接触器氧化
3.电容有外部负载施加从而阻止了
电容充电
Contactor Did Not Close 1. The contactor is not sucked
21 27 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
接触器没有闭合 2. Oxidation of the steering
contactor
3. The capacitor has an external
load applied, which prevents the
capacitor from charging
指令装置模拟量1输入（8脚）超出
模拟量1指令超出范围 保持然后关闭
范围
22 29 Command Analog 1 Out of 重启钥匙开关 Cycle KSI Hold then 停止 Stop
Command device analog 1 input
Range Shutdown
(pin 8) out of range
指令装置模拟量3输入（19脚）超出
Command Analog3 Out of 保持然后关闭
范围
23 2A Range 重启钥匙开关 Cycle KSI Hold then 停止 Stop
Command device analog 3 input
模拟量3指令超出范围 Shutdown
(pin 19) out of range
位置反馈装置模拟量5输入（16脚）
Feedback Analog5 Out of 保持然后关闭
超出范围
24 2B Range 重启钥匙开关 Cycle KSI Hold then 停止 Stop
Command device analog 5 input
模拟量5超出范围 Shutdown
(pin 16) out of range
位置反馈装置模拟量6输入（17脚）
Feedback Analog6 Out of 保持然后关闭
超出范围
25 2C Range 重启钥匙开关 Cycle KSI Hold then 停止 Stop
Command device analog 6 input
模拟量6超出范围 Shutdown
(pin 17) out of range
 1222 CAN NMT 状态在互锁打开
80ms内无运行 报警然后关闭
CAN Not Operational
26 2D 1222 CAN NMT state does not 重启钥匙开关 Cycle KSI Warning then 停止 Stop
CAN没有运行
operate within 80ms of interlock Shutdown
open
1.有新软件写入
2.使用“恢复工厂默认值”来清除故障
3.控制器故障
EEPROM CRC Fault
27 2E 1. New software is written 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
存储器循环校验故障
2. Use Restore Factory Defaults to
clear the fault
3. Controller fault
1.Sin/Cos 传感器 故障
2.Sin/Cos 传感器参数误调 保持然后关闭
Sin/Cos command sensor
28 2F 1. Sin/Cos sensor fault 重启钥匙开关 Cycle KSI Hold then 停止 Stop
Sin/Cos 指令传感器
2. Sin/Cos sensor parameters are Shutdown
incorrectly adjusted
1.锯齿波传感器故障
2.锯齿波传感器参数误调 保持然后关闭
Sawtooth Command Sensor
29 2F 1. The sawtooth sensor is faulty 重启钥匙开关 Cycle KSI Hold then 停止 Stop
锯齿波指令传感器
2. Parameters of the sawtooth Shutdown
sensor are incorrectly adjusted
1.Sin/Cos 传感器 故障
2.Sin/Cos 传感器参数误调 保持然后关闭
Sin/Cos Feedback sensor
30 30 1. Sin/Cos sensor fault 重启钥匙开关 Cycle KSI Hold then 停止 Stop
Sin/Cos 反馈传感器
2. Sin/Cos sensor parameters are Shutdown
incorrectly adjusted
1.锯齿波传感器 故障
2.锯齿波传感器参数误调 保持然后关闭
Sawtooth Feedback Sensor
31 30 1. Sawtooth sensor fault 重启钥匙开关 Cycle KSI Hold then 停止 Stop
锯齿波反馈传感器
2. Parameters of the sawtooth Shutdown
sensor are incorrectly adjusted
参数值或者软件更改后需要进行一
次断电重启，从安全角度考虑该故
障自动强制要求车辆断电重启
Parameter After the parameter value or
32 31 Change Fault software is changed, it is necessary 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
参数更改故障 to power off and restart the vehicle.
From the safety point of view, the
fault automatically requires the
vehicle to power off and restart
1.互锁开关是使用交叉配置（常开
和常闭），检查这两个输入，如果
开关1（9脚）=开关3（11脚），将
报错
Interlock Switch Supervision 2.互锁开关故障 互锁1不等于互锁3
互锁关闭
33 33 互锁开关监控 1. The interlock switch is used in the Interlock 1 is not equal to 停止 Stop
Interlock = OFF
cross configuration (normally open interlock 3
and normally closed), check the two
inputs, if switch 1 (pin 9) = switch 3
(pin 11), an error will be reported
2. The interlock switch is faulty
1.轮子位置没有接近回位位置，检
测到冗余的回位开关输入，如果不
一致就报此故障
2.回位开关故障
3.如果是360°的转向，参数 Homing
CamAngle(deg) 设置错误
报警然后关闭
Home Switch Supervision 1. The wheel position is not close to
34 34 重启钥匙开关 Cycle KSI Warning then 停止 Stop
回位开关监控 the return position, and redundant
Shutdown
return switch inputs are detected. If
inconsistent, this fault is reported
2. The return switch is faulty
3. If the steering is 360°, the Homing
CamAngle(deg) parameter is
incorrectly set
Home Position Not Found 回位开关故障
35 35 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
回位位置没找到 The return switch is faulty
1.回位开关故障
2.如果是360°转向， 参数Homing
Home reference Tolerance Cam Angle (deg) 没有设置对 报警然后关闭
36 36 Fault 1. The return switch is faulty 重启钥匙开关 Cycle KSI Warning then 停止 Stop
回位参考容忍故障 2. For 360° steering, the Homing Shutdown
Cam Angle (deg) parameter is not
set correctly
保持然后关闭
Steer Command Supervision 指令输入装置故障
37 37 重启钥匙开关 Cycle KSI Hold then 停止 Stop
转向指令监控 The instruction input device is faulty
Shutdown
保持然后关闭
Wheel Position Supervision 位置反馈装置故障
38 38 重启钥匙开关 Cycle KSI Hold then 停止 Stop
轮子位置监控 Position feedback device is faulty
Shutdown
5V外部负载电流太大或太小 保持然后关闭
5V Current Out of Range
39 45 5V external load current is too large 重启钥匙开关 Cycle KSI Hold then 停止 Stop
5V 电流超出范围
or too small Shutdown
Software Fault 1 备用
40 47
软件故障1 Spare
1.软件故障
Software Fault 2 2.控制器故障
41 47 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
软件故障2 1. The software is faulty
2. The controller is faulty
Software Fault 3 备用
42 47
软件故障3 Spare
1.软件故障
Software Fault 4 2.控制器故障
43 47 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
软件故障4 1. The software is faulty
2. The controller is faulty
 1.软件故障
Software Fault 5 2.控制器故障
44 47 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
软件故障5 1. The software is faulty
2. The controller is faulty
行走控制器和1222通讯中断 报警然后关闭
PDO1 Timeout
45 48 Communication between travel 重启钥匙开关 Cycle KSI Warning then 停止 Stop
PDO1 超时
controller and 1222 is down Shutdown
CAN 设备向1222发送PDO2信息中
报警然后关闭
PDO2 Timeout 断
46 48 重启钥匙开关 Cycle KSI Warning then 停止 Stop
PDO2 超时 The CAN device fails to send PDO2
Shutdown
information to 1222
CAN 设备向1222发送PDO3信息中
报警然后关闭
PDO3 Timeout 断
47 48 重启钥匙开关 Cycle KSI Warning then 停止 Stop
PDO3 超时 The CAN device fails to send PDO3
Shutdown
information to 1222
CAN 设备向1222发送PDO4信息中
报警然后关闭
PDO4 Timeout 断
48 48 重启钥匙开关 Cycle KSI Warning then 停止 Stop
PDO4 超时 The CAN device fails to send PDO4
Shutdown
information to 1222
1.位置反馈装置故障
2.转向电机堵转
3.转向电机编码器失效 报警然后关闭
Following Error
49 49 1. The position feedback device is 重启钥匙开关 Cycle KSI Warning then 停止 Stop
跟随错误
faulty Shutdown
2. The steering motor is blocked
3. Steering motor encoder fails
1.下载了新的软件
Hardware
2.控制器硬件不支持新软件
Software
50 4A 1. Downloaded new software 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
Mismatch
2. The controller hardware does not
软硬件不匹配
support new software
1.参数设置彼此冲突
2.参数设置超过范围
Parameter
1. Parameter Settings conflict with
51 4B Conflict 重启钥匙开关 Cycle KSI 关闭 Shutdown 停止 Stop
each other
参数冲突
2. The parameter Settings are out of
range