AF9ZP0BA - EPS-ACW REACH TRUCK - User Manual
Page - 69/90
Alarm 0xFFDD=221 Group #0 [M]:
- Cause:
MuC compares its checksum for the parameters list with the
checksum of the parameters list in the SuC. In case they are
mismatched, MuC raises this alarm.
- Remedy:
Check which parameter(s) is different between MuC and SuC
and update (write) the unmatched parameter(s). To easily fix
the problem make a Clear Eeprom.
20) MAIN CONT. OPEN.
Warning 0xFF30=48 with eps off and no drive [M,S]:
- Cause:
This warning is active when the steering controller is receiving
via Can bus the information that the power line contactor is
open.
- Remedy:
This is not a problem in the Eps. When this warning is raised up
it means the line contactor is open (or not closed yet).
21) INPUT MISMATCH YY
Alarm 0xFFFA=250 Group #0 [S]:
- Cause:
MuC and SuC read the inputs independently each other. SuC
takes care the values that it is reading are matched real time
with the values the MuC is reading. This alarm occurs in case it
isn’t. SuC specifies which input leaded to a mismatch with a hex
code (see above YY pair).
Inputs failed between MuC and SuC can be:
1. Mismatch on straight ahead or 90 degrees switch level (SW1
on CNA#12 and SW2 on CNA#11)
YY = 83h
2. Mismatch in the quadrant of the MDU in the 360 degrees
revolution (SW1 vs. SW2 vs. AUX FUNCTION #11 setting).
YY=08h
3. Mismatch in the Stepper Motor speed larger than
max_stepper_motor_speed/5 (CNA#20 and CNA#17).
YY=04h
4. Mismatch in the Encoder counting larger than 10 counts (a
2296 counting corresponds to 180 MDU degrees) (CNG#1
and CNG#3).
YY=20h
- Remedy:
If it is repetitive, it reports a problem in the controller.
22) SP MISMATCH YY
Alarm 0xFFCF=207 Group #0 [S]:
- Cause:
According the command, MuC and SuC calculate
independently each other the speed set point for the steering
motor. SuC takes care the values that it is calculating is
matched real time with the values the MuC is calculating. This
alarm occurs in case it isn’t. SuC specifies which condition
leaded to a mismatch with a hex code (see above YY pair).
Conditions failed between MuC and SuC can be:
1. When NOT in closed loop max angle limitation, a mismatch
on the steering motor speed set point larger than 10Hz.
YY = 01h.
2. When in closed loop max angle limitation, a mismatch
consisting of MuC has detected the condition for the max
angle limitation and the SuC has not (or viceversa).
YY = 02h
3. When in closed loop for a recovery at rest, a mismatch
