50Service Manual – SC6000 20 - Wheel System, Traction
Operational Mode Prerequisites
Before the main controller can activate any of the operational modes, it must rst check that the appropriate
prerequisites are met.
• Drive Controller outputs
– Drive wheel motor
◦ No “interlock” message from the main controller on the CAN bus (only active during auto disc brush
install mode)
Troubleshooting
Drive Controller (E4) Error Codes
The drive controller error codes will be displayed on the main display. However, the error number is also
ashed on the two-color status LED on the module itself. The status LED has 2 colors; red and yellow. The
red LED will ash out which digit of the code is coming next, and the yellow LED will ash out the value of
that digit.
For example, to ash out an M4 Overload error with a code of 034, the red LED will ash once, followed by
the yellow LED ashing 3 times. Then the red LED will ash twice, followed by the yellow LED ashing 4
times.
Code Description Comments
3-001 E4 Timeout This error is generated by the main machine controller when the drive
controller fails to communicate when expected.
3-012 Control Overcurrent The output phase current exceeded permissible limits. Check the phase
connections to the motor for shorts.
3-013 Current Sensor The internal current sensors have an invalid reading. Troubleshoot the motor
for shorts in the windings or power leads.
3-014 Precharge Fail The capacitor bank failed to charge to KSI voltage. The K3 relay will not be
permitted to close.
• Check the KSI relay for loose connections or voltage drop.
3-015 Severe UnderTemp The controller’s internal temp is below -40°C. The controller will be disabled.
3-016 Severe OverTemp The controller’s internal temp is above 95°C. The controller will be disabled.
3-017 Severe UnderVolt The capacitor bank voltage dropped below the preset limit. The drive will
reduce power to the motor.
3-018 Severe OverVolt The capacitor bank voltage exceeded the preset limit. The drive will be
disabled.
3-022 OverTemp Cutback The internal temperature exceeded 85°C. The output power will be reduced.
3-023 UnderVolt Cutback The capacitor bank voltage dropped below the under voltage limit. The output
power will be reduced. This may happen if the batteries are depleted.
3-024 OverVolt Cutback The capacitor bank voltage exceeded limits during regenerative braking.
3-025 +5V Fault The 5 volt supply is out of range. Likely due to excessive load.
3-028 Motor Hot Cutback The wheel motor temperature is above the setpoint. The output will be
reduced.
3-029 Motor Temp Sensor The motor temperature thermistor is showing either 0 or 10 volts. Temperature
not available, drive torque reduced.
3-031 K3 Coil Fault The K3 relay coil is either opened or shorted.
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