Page – 50/75 AFMNA0AA – EPS-BLI HYG – User Manual
alarms below; when the alarm is raised by only one of them, only one node is listed in
square brackets.
Two alarm codes are sent on the CAN bus: hexadecimal and decimal (see the
numbers in the list below). Decimal number is a standard protocol for a Zapi VMC or
display (sent via a PDO); hexadecimal is the extended alarm code (sent via an
EMERGENCY frame).
1) FB SENSOR LOCKED
Alarm 0xFFF1 = 241 Group #0 [M,S]:
- Cause: This alarm occurs if the actual position (steered wheel angle
measured via the feedback sensor) does not pursuit the
commanded position (steering handle) longer than 500 ms @
traction speed higher than 15% (at lower traction speed, time delay
increases up to 2.5 s when traction speed is lower than 5%). If the
displacement between commanded position and the encoder
counting (i.e. steered wheel angle) is higher than 10° and the
encoder counting increases less than 2° within a time delay of 500
ms, this alarm occurs.
This alarm can be due to:
1. At least one sensor channel is broken
2. Too much friction in the transmission/gears
3. A failure in the power controller
4. A failure in the motor (e.g. a sensor bearing locked or a
motor phase broken).
2) MOTOR LOCKED
Alarm 0xFFDC = 220 Group #0 [M,S]:
- Cause: This alarm occurs when the current in the motor stays higher than
90% Imax longer than 1 s when the traction speed is higher than
15% (delay becomes 5 s when the traction speed is lower than
5%). This alarm can be due to too much torque required to steer or
a problem in the encoder.
3) INIT VMN NOT OK
Alarm 0xFFFB = 251 Group #0 [M,S]:
- Cause: After key-on, with the three-phase power bridge off, the DC-link
voltage is expected to increase up to 14 V within 3.2 s (alarm
CAPACITOR CHARGE below if it does not). In the same time,
E-steering controller monitors the common voltage at the motor
terminals and raises this alarm when the 3.2 s time-out expires
and:
a) the common voltage is lower than 7 V (low-side power MOSFET
shorted to –B).
OR
b) the common voltage is stuck to the DC-link (high-side power
MOSFET shorted to +B). (It is considered stuck in case it is in a
window of ± 1 V around the DC-link voltage).
- Remedy: Replace the controller.
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