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AF9ZP0BA - EPS-ACW REACH TRUCK - User Manual
consisting of MuC has detected the condition for a recovery
at rest condition and the SuC has not (or viceversa).
YY = 04h
- Remedy:
If it is repetitive, it reports a problem in the controller.
23) OUTPUT MISMATCH YY
Alarm 0xFFD0=208 Group #0 [S]:
- Cause:
MuC and SuC read the commands and calculate the steering
motor set point independently each other. Then MuC actuates
the motor; SuC checks real time the action on the motor is
complying with the steering motor set point. 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. Actual and commanded (set point) steering motor speeds
have a displacement larger than 10Hz and opposite sign.
YY = 03h.
2. Actual and commanded (set point) steering motor speeds
have the same sign, displacement larger than 10Hz but the
actual speed is lower than 50% of the commanded speed.
YY = 05h
3. At least one between mismatches 1. and 2. is concurring.
Then actual and commanded (set point) torque currents
have a displacement larger 3Aac and opposite sign.
YY = 0Bh when 1. is concurring; 0Dh when 2. is concurring
4. At least one between mismatches 1. and 2. is concurring.
Then actual and commanded (set point) torque currents
have the same sign, displacement larger than 3Aac but the
actual torque current is lower than 50% of the commanded
torque current.
YY = 13h when 1. is concurring; 15h when 2. is concurring.
- Remedy:
If it is repetitive, it reports a problem in the controller.
24) WAITING MASTER
Warning 0xFFED=237 with eps off and no drive [S]:
- Cause:
At key on, SuC expects the MuC sends a “ready to steer” frame
on the local CAN Bus communication system. In case it lacks
longer than 4secs this warning occurs.
- Remedy:
If it is repetitive, it reports a problem in the controller.
25) WRONG SLAVE VER
Alarm 0xFFD2=210 Group #0 [M]:
- Cause:
This alarm is raised by MuC in case the Software release in
MuC and SuC are not matched (different release).
- Remedy:
Download the same software release (same number) on both
microcontrollers.
26) STEER HAZARD
Warning with eps on 0xFF55=85 [M]:
- Cause:
This warning occurs when the steered wheel reaches the
maximum angle.
- Remedy:
turns the steering wheel in the opposite direction.
27) BAD STEER 0-SET
Warning with eps on 0xFF51=81 [M,S]: