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2026-10-14 09:59:42 +08:00
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洗消机器人遥控器通信协议20260810.csv
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"波特率
500K",报文名称,报文类型,报文ID,报文发送类型,报文周期时间,报文长度,信号名称,信号描述,排列格式,起始位,信号发送类型,信号长度,数据类型,精度,偏移量,物理最小值(phys),物理最大值(phys),总线最小值(Hex),总线最大值(Hex),初始值(Hex),无效值(Hex),单位,信号值描述,所属节点,,
,Chassis_ControlCmd,Extended,0x18208081,Cycle,50,8,Chassis_Cmd,底盘指令,,,,,,,,,,,,,-,,,遥控器,,
,,,,,,,Chassis_modeCmd,行车模式,Intel,0,Cycle,1,Unsigned,1,,,,,,,,,"0=无效
1有效",,,
,,,,,,,MCU_modeCmd,底盘预留1,Intel,1,Cycle,2,Unsigned,1,,,,,,,,,,,,
,,,,,,,MCU_enable,底盘使能,Intel,3,Cycle,1,Unsigned,1,,,,,,,,,"0=无效
1=有效",,,
,,,,,,,Reserve,底盘预留2,Intel,4,Cycle,4,Unsigned,1,,,,,,,,,置0,,,
,,,,,,,Vehi_gear,整车档位指令,Intel,8,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,左侧摇杆 Y轴（后：0、中位2048、前：4096）,底盘模式时左侧摇杆
,,,,,,,Vehi_TargetSpd,底盘目标速度指令,Intel,24,Cycle,16,Unsigned,0.01,,0,500,,,,,,0-5Km/h 速度范围,,"=DISPIMG(""ID_F67903083048486180A4DD49DBD500E6"",1)","设置完可以保存
重启后读取上一次设置数值"
,,,,,,,Vehi_turning,底盘转向指令,Intel,40,Cycle,16,Signed,1,,,,,,,,,0-4096,,左侧摇杆 X轴（左：0、中位2048、右：4096）,底盘模式时左侧摇杆
,Arm_ControlCmd1,Extended,0x18218081,Cycle,50,8,Arm_Cmd1,机械臂指令1,,,,,,,,,,,,,,,,遥控器,,
,,,,,,,Arm_modeCmd,机械臂模式,Intel,0,Cycle,1,Unsigned,1,,,,,,,,,"0=无效
1=有效",,机械臂模式时置“1”,
,,,,,,,Arm_enable,机械臂使能,Intel,1,Cycle,1,Unsigned,,,,,,,,,,"0=未使能
1=使能",,,
,,,,,,,Reserve,机械臂预留,Intel,2,Cycle,6,Unsigned,1,,,,,,,,,,,,
,,,,,,,UpDown_motion,末端位置上下动作,Intel,8,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,左侧摇杆 Z轴（左旋：0、中位2048、右旋：4096）,"机械臂模式时
左侧摇杆"
,,,,,,,LeftRight_motion,末端位置左右动作,Intel,24,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,左侧摇杆 X轴（左：0、中位2048、右：4096）,
,,,,,,,FrontRear_motion,末端位置前后动作,Intel,40,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,左侧摇杆 Y轴（后：0、中位2048、前：4096）,
,Arm_ControlCmd2,Extended,0x18228081,Cycle,50,8,Arm_Cmd2,机械臂指令2,,,,,,,,,,,,,,,,遥控器,,
,,,,,,,Roll_motion,末端姿态横滚动作,Intel,0,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,右侧摇杆 X轴 （左：0、中位2048、右：4096）,右侧摇杆
,,,,,,,Pitch_motion,末端姿态俯仰动作,Intel,16,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,右侧摇杆 Y轴 （后：0、中位2048、前：4096）,
,,,,,,,Yaw_motion,末端姿态偏航动作,Intel,32,Cycle,16,Unsigned,1,,,,,,,,,0-4096,,右侧摇杆 Z轴 （左旋：0、中位2048、右旋：4096）,
,,,,,,,System_homing_pause,系统回位/暂停,Intel,48,Cycle,8,Unsigned,1,,,,,,,,,"0xAA=系统回位
0x55=暂停回位",,,
,Decontam_ControlCmd,Extended,0x18238081,Cycle,100,8,Decontam_Control,洗消系统指令,,,,,,,,,,,,,,,,遥控器,,
,,,,,,,Decontam_modeCmd,洗消模式选择,Intel,0,Cycle,2,Unsigned,1,,,,,,,,,"2=手动消除
3=手动消毒",,"=DISPIMG(""ID_66C333C31FE34D3A966FE7FB8979E20E"",1)","设置完可以保存
重启后读取上一次设置数值"
,,,,,,,Decontam_start,洗消启停,Intel,2,Cycle,1,Unsigned,1,,,,,,,,,"0=停止
1=启动",,,
,,,,,,,Reserve,预留,Intel,3,Cycle,5,Unsigned,1,,,,,,,,,置0,,,
,,,,,,,Expansion_ratioCmd,发泡倍数,Intel,8,Cycle,8,Unsigned,1,,,,,,,,,6-12 倍可调范围,,,
,,,,,,,Foam_ratio,泡沫比例,Intel,16,Cycle,8,Unsigned,1,,,,,,,,%,0-10%,,,
,,,,,,,AirComp_flow,空压机流量,Intel,24,Cycle,8,Unsigned,1,,,,,,,,L/min,0-340L/min,,,
,,,,,,,PlungerPump_flow,柱塞泵流量,Intel,32,Cycle,8,Unsigned,1,,,,,,,,L/min,0-24L/min,,,
,Decontam_DebugCmd,Extended,0x18248081,Cycle,100,8,Decontam_Debug,洗消调试指令,,,,,,,,,,,,,,,,遥控器,,
,,,,,,,Debug_mode,调试模式,Intel,0,Cycle,1,Unsigned,1,,,,,,,,,"0=正常模式
1=调试模式",,,
,,,,,,,PlungerPump_PwrOn,柱塞泵上电,Intel,1,Cycle,1,Unsigned,1,,,,,,,,,"0=下电
1=上电",,,
,,,,,,,AirComp_PwrOn,空压机上电,Intel,2,Cycle,1,Unsigned,1,,,,,,,,,"0=下电
1=上电",,,
,,,,,,,VanePump_PwrOn,叶片泵上电,Intel,3,Cycle,1,Unsigned,1,,,,,,,,,"0=下电
1=上电",,,
,,,,,,,MBV_D1__PwrOn,电动球阀D1,Intel,4,Cycle,1,Unsigned,1,,,,,,,,,"0=关闭
1=开启",,,
,,,,,,,MBV_D2__PwrOn,电动球阀D2,Intel,5,Cycle,1,Unsigned,1,,,,,,,,,"0=关闭
1=开启",,,
,,,,,,,Debug_Reserve1,调试预留1,Intel,6,Cycle,2,Unsigned,1,,,,,,,,,,,,
,,,,,,,AirComp_Spd,空压机转速,Intel,8,Cycle,16,Unsigned,1,,,,,,,,rpm,0-3000rpm,,,
,,,,,,,PlungerPump_Spd,柱塞泵转速,Intel,24,Cycle,16,Unsigned,1,,,,,,,,rpm,0-1450rpm,,,
,,,,,,,VanePump__Spd,叶片泵转速,Intel,40,Cycle,16,Unsigned,1,,,,,,,,rpm,0-2000rpm,,,
,,,,,,,AirComp_start,空压机启停,Intel,56,Cycle,1,Unsigned,1,,,,,,,,,"0=停止
1=启动",,,
,,,,,,,PlungerPump_start,柱塞泵启停,Intel,57,Cycle,1,Unsigned,1,,,,,,,,,"0=停止
1=启动",,,
,,,,,,,VanePump_start,叶片泵启停,Intel,58,Cycle,1,Unsigned,1,,,,,,,,,"0=停止
1=启动",,,
,Detector_ControlCmd,Extended,0x18258081,Cycle,1000,8,Detector_Cmd,气体检测设备指令,,,,,,,,,,,,,-,,,遥控器,,
,,,,,,,Detector_start,启停指令,Intel,0,Cycle,8,Unsigned,1,,,,,,,,,"0xAA=启动检测
0x55=停止检测",,"=DISPIMG(""ID_F9FC5542F4E84DA1B522F1EEC3593D3C"",1)",
,Emergency_Cmd,Extended,0x18268081,Cycle,50,8,Emergency_Stop,紧急停止指令,,,,,,,,,,,,,,,,遥控器,,
,,,,,,,Emerg_stop,紧急停止,Intel,0,Cycle,8,Unsigned,1,,,,,,,,,"0x55=急停
0=正常",,,
,Vehicle_StatusFeedBack1,Extended,0x18308180,Cycle,100,8,Chassis_WorkStatus1,底盘状态1(BMS系统),,,,,,,,,,,,,,,,VCU,,
,,,,,,,Total_voltage,总电压,Intel,0,Cycle,16,Unsigned,0.1,,,,,,,,,,,BMS系统故障,
,,,,,,,SOC,电量SOC,Intel,16,Cycle,16,Unsigned,0.1,,,,,,,,,,,,
,,,,,,,MCU_FaultCode,底盘电机故障码,Intel,32,Cycle,8,Unsigned,1,,,,,,,,,"6:电机缺相预警
17:控制器过温警告
18:电机过温警告
19:控制器温度传感器警告
20:电机温度传感器警告
21:控制器过载警告
22:电机超速警告
23:直流母线电压过压警告
24:直流母线电压欠压警告
35:电流霍尔传感U相器故障
36:电流霍尔传感W相器故障
37:VCU报文丢失故障
38:VCU循环计数错误
39:VCU校验和错误
40:CAN BussOff故障
49:母线硬件过压故障
50:相电流硬件过流故障
51:IGBT短路故障
52:驱动欠压故障
53:旋变故障
54:电机超速故障
55:低压电源过压故障
56:低压电源欠压故障
57:直流母线电压过压故障
58:直流母线电压欠压故障
59:控制器过温故障
60:电机过温故障
61:电机缺相故障
62:驻坡失效故障",,"两个数值同时发送，配合使用
例如：
底盘电机故障码：18
底盘电机故障等级：1
显示：
底盘电机：18-电机过温警告，1级
不会出现故障等级是0，但是有故障码的情况",底盘电机故障
,,,,,,,MCU_FaultLevel,底盘电机故障等级,Intel,40,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,,
,,,,,,,底盘预留,预留,Intel,42,Cycle,3,Unsigned,1,,,,,,,,,,,？,
,,,,,,,UnderOver_FaultLevel,单体过低故障等级,Intel,45,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,BMS系统故障,
,,,,,,,CellOver_FaultLevel,单体过高故障等级,Intel,47,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,,
,,,,,,,UnderVol_FaultLevel,总电压过低故障等级,Intel,49,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障;,,,
,,,,,,,OverVol_FaultLevel,总电压过高故障等级,Intel,51,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障;,,,
,,,,,,,DischgLowTmp_FaultLevel,放电温度过低故障等级,Intel,53,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,,
,,,,,,,DischgOverTmp_FaultLevel,放电温度过高故障等级,Intel,55,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,,
,,,,,,,ChgLowTmp_FaultLevel,充电温度过低故障等级,Intel,57,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,,
,,,,,,,ChgOverTmp_FaultLevel,充电温度过高故障等级,Intel,59,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,,
,,,,,,,TI_FaultLevel,温度不均衡故障等级,Intel,61,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,,
,Vehicle_StatusFeedBack2,Extended,0x18318180,Cycle,100,8,Chassis_WorkStatus2,底盘状态2(BMS系统),,,,,,,,,,,,,,,,VCU,,
,,,,,,,VI_FaultLevel,压差不均衡故障等级,Intel,0,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,,
,,,,,,,DischgOverCurr_FaultLevel,放电过流故障等级,Intel,2,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,,
,,,,,,,ChgOverCurr_FaultLevel,充电过流故障等级,Intel,4,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,,
,,,,,,,InComm_FaultLevel,内部通讯故障,Intel,6,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:故障;,,,
,,,,,,,ExtComm_FaultLevel,外部通讯故障,Intel,8,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:故障;,,,
,,,,,,,SOC_Low_FaultLevel,SOC过低故障等级,Intel,10,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,,
,,,,,,,Insulation_FaultLevel,绝缘故障等级,Intel,12,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:一级故障;2:二级故障;3:三级故障,,,
,,,,,,,HeatRelay welding,加热继电器粘连,Intel,14,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:故障;,,,
,,,,,,,ChgRelay welding,充电继电器粘连,Intel,16,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:故障;,,,
,,,,,,,MainNegRelay welding,总负继电器粘连,Intel,18,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:故障;,,,
,,,,,,,MainPosRelay welding,总正继电器粘连,Intel,20,Cycle,2,Unsigned,1,,,,,,,,,0:正常;1:故障;,,,
,,,,,,,Handbrake,手刹信号,Intel,22,Cycle,2,Unsigned,1,,,,,,,,,0:无效;1:有效;,,20260804删除,
,,,,,,,Vehi_spd,车速,Intel,24,Cycle,8,Unsigned,0.01,,,,,,,,km/h,,,,
,,,,,,,Vehi_RdyStatus,底盘ready状态,Intel,32,Cycle,2,Unsigned,1,,,,,,,,,"0=初始状态
1=高压上电完成
2=准备就绪",,,
,,,,,,,Reserve,底盘预留,Intel,34,Cycle,6,Unsigned,1,,,,,,,,,,,,
,,,,,,,All_Comm_FaultCode,整系统通信故障码,Intel,40,Cycle,8,Unsigned,1,,,,,,,,,"0=通信正常
1=底盘电机通信异常
2=底盘BMS通信异常
3=机械臂通信异常
4=空压机通信异常
5=柱塞泵通信异常
6=叶片泵通信异常
7=气体检测仪通信异常
8=遥控器通信异常",,,
,Arm_StatusFeedBack1,Extended,0x18328180,Cycle,100,8,Arm_WorkStatus1,机械臂状态1,,,,,,,,,,,,,,,,VCU,,
,,,,,,,End_positionX,末端位置：X,Intel,0,Cycle,16,Signed,1,,,,,,,,mm,,,,
,,,,,,,End_positionY,末端位置：Y,Intel,16,Cycle,16,Signed,1,,,,,,,,mm,,,,
,,,,,,,End_positionZ,末端位置：Z,Intel,32,Cycle,16,Signed,1,,,,,,,,mm,,,,
,Arm_StatusFeedBack2,Extended,0x18338180,Cycle,100,8,Arm_WorkStatus2,机械臂状态2,,,,,,,,,,,,,,,,VCU,,
,,,,,,,End_postureRX,末端姿态：RX,Intel,0,Cycle,16,Signed,1,,,,,,,,,,,,
,,,,,,,End_postureRY,末端姿态：RY,Intel,16,Cycle,16,Signed,1,,,,,,,,,,,,
,,,,,,,End_postureRZ,末端姿态：RZ,Intel,32,Cycle,16,Signed,1,,,,,,,,,,,,
,,,,,,,End_spd,末端速度,Intel,48,Cycle,8,Signed,1,,,,,,,,,,,,
,Arm_StatusFeedBack3,Extended,0x18348180,Cycle,100,8,Arm_WorkStatus3,机械臂状态3,,,,,,,,,,,,,,,,VCU,,
,,,,,,,Joint1_angle,Joint1关节角,Intel,0,Cycle,16,Signed,1,,,,,,,,°,,,,
,,,,,,,Joint2_angle,Joint2关节角,Intel,16,Cycle,16,Signed,1,,,,,,,,°,,,,
,,,,,,,Joint3_angle,Joint3关节角,Intel,32,Cycle,16,Signed,1,,,,,,,,°,,,,
,,,,,,,Joint4_angle,Joint4关节角,Intel,48,Cycle,16,Signed,1,,,,,,,,°,,,,
,Arm_StatusFeedBack4,Extended,0x18358180,Cycle,100,8,Arm_WorkStatus4,机械臂状态4,,,,,,,,,,,,,,,,VCU,,
,,,,,,,Joint5_angle,Joint5关节角,Intel,0,Cycle,16,Signed,1,,,,,,,,°,,,,
,,,,,,,Joint6_angle,Joint6关节角,Intel,16,Cycle,16,Signed,1,,,,,,,,°,,,,
,Decontam_StatusFeedBack1,Extended,0x18368180,Cycle,200,8,Decontam_WorkStatus1,洗消系统工作状态1,,,,,,,,,,,,,,,,VCU,,
,,,,,,,Decontam_mode,洗消模式,Intel,0,Cycle,2,Unsigned,1,,,,,,,,,"2=消除作业
3=消毒作业",,,
,,,,,,,Start,启停,Intel,2,Cycle,1,Unsigned,1,,,,,,,,,"0=停止
1=启动",,,
,,,,,,,PlungerPump_PwrOnSta,柱塞泵上电sta,Intel,3,Cycle,1,Unsigned,1,,,,,,,,,"0=未上电
1=上电",,,
,,,,,,,AirComp_PwrOnSta,空压机上电sta,Intel,4,Cycle,1,Unsigned,1,,,,,,,,,"0=未上电
1=上电",,,
,,,,,,,VanePump_PwrOnSta,叶片泵上电sta,Intel,5,Cycle,1,Unsigned,1,,,,,,,,,"0=未上电
1=上电",,,
,,,,,,,A_LiquidLevel_Low,A组分/清水液位低,Intel,6,Cycle,1,Unsigned,1,,,,,,,,,"0=正常
1=液位低",,,
,,,,,,,B_LiquidLevel_Low,B组分液位低,Intel,7,Cycle,1,Unsigned,1,,,,,,,,,"0=正常
1=液位低",,,
,,,,,,,MBV_D1_Sta,电动球阀D1sta,Intel,8,Cycle,1,Unsigned,1,,,,,,,,,"0=关闭到位
1=开启到位",,,
,,,,,,,MBV_D2_Sta,电动球阀D2sta,Intel,9,Cycle,1,Unsigned,1,,,,,,,,,"0=关闭到位
1=开启到位",,,
,,,,,,,Sys_fault,系统故障,Intel,10,Cycle,1,Unsigned,1,,,,,,,,,"0=无故障
1=故障",,,
,,,,,,,Sta_reserve,状态预留,Intel,11,Cycle,5,Unsigned,1,,,,,,,,,置0,,,
,,,,,,,PartA_Water level,A组分/清水液位,Intel,16,Cycle,8,Unsigned,1,,,,,,,,,,,,
,,,,,,,Foam_level,B组分液位,Intel,24,Cycle,8,Unsigned,1,,,,,,,,,,,,
,,,,,,,ChemicalA_flow,A药剂流量,Intel,32,Cycle,8,Unsigned,1,,,,,,,,,,,,
,,,,,,,ChemicalB_flow,B药剂流量,Intel,40,Cycle,8,Unsigned,1,,,,,,,,,,,,
,,,,,,,Air_flow,气体流量,Intel,48,Cycle,8,Unsigned,1,,,,,,,,,,,,
,,,,,,,Expansion_ratio,发泡倍数,Intel,56,Cycle,8,Unsigned,1,,,,,,,,,,,,
,Decontam_StatusFeedBack2,Extended,0x18378180,Cycle,200,8,Decontam_WorkStatus2,洗消系统工作状态2,,,,,,,,,,,,,,,,VCU,,
,,,,,,,Pipe_pressure,管路压力,Intel,0,Cycle,8,Unsigned,0.1,,,,,,,,Mpa,,,,
,,,,,,,AirComp_pressure,空压机压力,Intel,8,Cycle,8,Unsigned,0.1,,,,,,,,Mpa,,,,
,,,,,,,PlungerPump_flowFB,柱塞泵流量反馈,Intel,16,Cycle,8,Unsigned,1,,,,,,,,,,,,
,,,,,,,AirComp_flowFB,空压机流量反馈,Intel,32,Cycle,8,Unsigned,1,,,,,,,,,,,,
,,,,,,,VanePump__flowFB,叶片泵流量反馈,Intel,40,Cycle,8,Unsigned,1,,,,,,,,,,,,
,,,,,,,AirComp_FaultCode,空压机故障代码,Intel,48,Cycle,8,Unsigned,1,,,,,,,,,2=加速过流;3=减速过流;4=恒速过流;5=加速过压;6=减速过压;7=恒速过压;8=缓冲过载;9=欠压;10=控制器过载;11=电机过载;12=输入缺相;13=输出缺相;14=模块过热;15=外部故障;16=通信异常;17=接触器异常;18=电流检测故障;19=自学习故障;20=编码器故障;21=参数读写异常;22=变频器硬件故障;23=电机对地短路故障;31=PID反馈丢失;40=快速限流超时故障;42=速度偏差过大;43=电机超速;45=电机过温;90=编码器线数设定错误;91=未接编码器;92=初始位置错误;94=速度反馈错误;,,,
,,,,,,,PlungerPump_FaultCode,柱塞泵故障代码,Intel,56,Cycle,8,Unsigned,1,,,,,,,,,1=短路故障;2=欠压;3=过压;4=控制器过温;5=控制器温度传感器故障;6=电机过温;7=电机温度传感器故障,,,
,Detector_StatusFeedBack1,Extended,0x18388180,Cycle,1000,8,Detector_WorkStatus1,气体检测设备结果状态1,,,,,,,,,,,,,,,,VCU,,
,,,,,,,Detector_Sta,检测仪当前状态,Intel,0,Cycle,8,Unsigned,1,,,,,,,,,"2=计算目标基线状态
3=等待稳定状态
4=检测状态
5=等待点火状态
6=确定初始基线状态",,,
,,,,,,,Toxic_types,有毒物种类,Intel,8,Cycle,8,Unsigned,1,,,,,,,,,"1=P类
2=S类
4=HNO类
8=CH类
16=AS类",,,
,,,,,,,Toxicity_level,有毒物等级,Intel,16,Cycle,8,Unsigned,1,,,,,,,,,等级1-5,,,
,,,,,,,Warnning,告警信息,Intel,24,Cycle,8,Unsigned,1,,,,,,,,,"1=进气嘴未接
2=氢气流量不足
4=仪器故障
8=浓度过高",,,
,Detector_StatusFeedBack2,Extended,0x18398180,Cycle,1000,8,Detector_WorkStatus2,气体检测设备结果状态2,,,,,,,,,,,,,,,,VCU,,
,,,,,,,Toxic_ concentration,有毒物浓度,Intel,0,Cycle,40,Unsigned,1,,,,,,,,ppb,有毒物浓度：单位PPB，1000PPB=1PPM.,,,
,Vehicle_StatusFeedBack2,Extended,0x183A8180,Cycle,100,8,Chassis_WorkStatus3,底盘状态3,,,,,,,,,,,,,,,,VCU,,
,,,,,,,EPS_RotAngNotAligned,EPS转子角未对中,Intel,0,Cycle,1,Unsigned,1,,,,,,,,,,,"
转向制动系统故障
故障码待确认
",
,,,,,,,EPS_RotAngDisconn,EPS转子角度断开,Intel,1,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_RotAng_SPI_Fault,EPS转子角度SPI故障,Intel,2,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPSEEPROM_Fault,EPSEEPROM_故障,Intel,3,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_MidpointNotAligned,EPS方向盘中点未对中,Intel,4,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_Angle_exceeds,EPS方向盘角度超限,Intel,5,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_Smalltooth_Disconn,EPS方向盘小齿信号断开,Intel,6,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_Gearsignal_Disconn,EPS方向盘中齿信号断开,Intel,7,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_overcurrent_fault,EPS过电流故障,Intel,8,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_A_phase_CurrAbnormal,EPS电机A相电流异常,Intel,9,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_C_phase_CurrAbnormal,EPS电机C相电流异常,Intel,10,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_B_phase_CurrAbnormal,EPS电机B相电流异常,Intel,11,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPSVCU_signal_loss,EPSVCU信号丢失,Intel,12,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_without_assistance,EPS电机无助力,Intel,13,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_pre_config_failed,EPS预驱配置失败,Intel,14,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_semi_stall_protect,EPS半堵转保护,Intel,15,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_Temp_thermal_protect,EPS温度热保护,Intel,16,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_vol_ManageProtect,EPS电压管理保护,Intel,17,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_response_NotInPlace,EPS转角响应不到位,Intel,18,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_angle_PWM_fault,EPS转子角度PWM故障,Intel,19,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_vol_verify_anomaly,EPS电压校验异常,Intel,20,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_thermistor_open_or_short,EPS热敏电阻开路或短路,Intel,21,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_thermistor_TempDiff_too_large ,EPS热敏电阻温差过大,Intel,22,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_overload_fault,制动器过载故障,Intel,23,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_overTemppres_fault,制动器过温或过压故障,Intel,24,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_overcurrent_fault,制动器过流故障,Intel,25,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_undervoltage_fault,制动器电源欠压故障,Intel,26,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_overvoltage_fault,制动器电源过压故障,Intel,27,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Insufficient_brake_pressure,制动器压力不足,Intel,28,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_Phase_loss_fault,制动器缺相故障,Intel,29,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_Comm_fault,制动器通讯故障,Intel,30,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_Curr_sample_fault,制动器电流采样故障,Intel,31,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_drive_failure,制动器驱动故障,Intel,32,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_magnetic_encoder_fault,制动器磁编故障,Intel,33,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_pressure_sensor_fault,制动器压力传感器故障,Intel,34,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_pedal_position_fault,制动器踏板位置传感器故障,Intel,35,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_Mechanical_failure,制动器机械故障,Intel,36,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_locked_rotor_fault,制动器堵转故障,Intel,37,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_Emerg_stop_closed,制动器急停按键闭合警告,Intel,38,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_applied_too_long,制动器驻车时间过长,Intel,39,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_CAN1_interrupt_warning,制动器CAN1中断警告,Intel,40,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_CAN2_interrupt_warning,制动器CAN2中断警告,Intel,41,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_ignition_disconnected,制动器点火线断开警告,Intel,42,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_Abnormal_current,制动器电流异常警告,Intel,43,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_Temp_too_high,制动器温度过高警告,Intel,44,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_input_vol_too_high,制动器输入电压过高警告,Intel,45,Cycle,1,Unsigned,1,,,,,,,,,,,,
,,,,,,,Brake_Reserve,制动预留,Intel,46,Cycle,2,Unsigned,1,,,,,,,,,,,,
,,,,,,,EPS_error_code,EPS故障码,Intel,48,Cycle,8,Unsigned,1,,,,,,,,,,,,
,Vehicle_StatusFeedBack2,Extended,0x183B8180,Cycle,100,8,Chassis_WorkStatus4,底盘状态4,,,,,,,,,,,,,,,,VCU,,
,,,,,,,Gear_Position,挡位状态,Intel,0,Cycle,2,Unsigned,1,,,,,,,,,0:N挡;1:D挡;2:R挡,,,
,,,,,,,Parking_Status,驻车状态,Intel,2,Cycle,2,Unsigned,1,,,,,,,,,0x00:未驻车;0x01:左电机驻车;0x02:右电机驻车;0x03:完全驻车;,,,
,,,,,,,AWD_Mode_Status,四驱模式反馈,Intel,4,Cycle,2,Unsigned,1,,,,,,,,,0:二驱模式;1:四驱模式;2:四驱锁定模式;,,,
,,,,,,,底盘预留,状态4预留,Intel,6,Cycle,2,Unsigned,1,,,,,,,,,,,,
,,,,,,,Steering_Angle,方向盘角度,Intel,8,Cycle,16,Unsigned,1,,,,,,,,,,,,
,,,,,,,Angle_alignment_status,角度对中状态,Intel,24,Cycle,8,Unsigned,1,,,,,,,,,0:未进行过角度对中;0x11:角度对中失败;0xee:角度对中成功;0x55:已对中成功;,,,
,,,,,,,Brake_Right_Mot_fault,左制动电机故障状态,Intel,32,Cycle,8,Unsigned,1,,,,,,,,,0x00:无故障;0x01:电机开路;0x02:电机短路;0x03:制动执行超时;0x04:解除制动执行超时;0x05:驱动电路故障;0x06:供电电压过低;0x07:供电电压过高;,,转向制动系统故障,
,,,,,,,Brake_Left_Mot_fault,右制动电机故障状态,Intel,40,Cycle,8,Unsigned,1,,,,,,,,,0x00:无故障;0x01:电机开路;0x02:电机短路;0x03:制动执行超时;0x04:解除制动执行超时;0x05:驱动电路故障;0x06:供电电压过低;0x07:供电电压过高;,,,
1 波特率 500K 报文名称 报文类型 报文ID 报文发送类型 报文周期时间 报文长度 信号名称 信号描述 排列格式 起始位 信号发送类型 信号长度 数据类型 精度 偏移量 物理最小值(phys) 物理最大值(phys) 总线最小值(Hex) 总线最大值(Hex) 初始值(Hex) 无效值(Hex) 单位 信号值描述 所属节点
2 Chassis_ControlCmd Extended 0x18208081 Cycle 50 8 Chassis_Cmd 底盘指令 - 遥控器
3 Chassis_modeCmd 行车模式 Intel 0 Cycle 1 Unsigned 1 0=无效 1有效
4 MCU_modeCmd 底盘预留1 Intel 1 Cycle 2 Unsigned 1
5 MCU_enable 底盘使能 Intel 3 Cycle 1 Unsigned 1 0=无效 1=有效
6 Reserve 底盘预留2 Intel 4 Cycle 4 Unsigned 1 置0
7 Vehi_gear 整车档位指令 Intel 8 Cycle 16 Unsigned 1 0-4096 左侧摇杆 Y轴（后：0、中位2048、前：4096） 底盘模式时左侧摇杆
8 Vehi_TargetSpd 底盘目标速度指令 Intel 24 Cycle 16 Unsigned 0.01 0 500 0-5Km/h 速度范围 =DISPIMG("ID_F67903083048486180A4DD49DBD500E6",1) 设置完可以保存 重启后读取上一次设置数值
9 Vehi_turning 底盘转向指令 Intel 40 Cycle 16 Signed 1 0-4096 左侧摇杆 X轴（左：0、中位2048、右：4096） 底盘模式时左侧摇杆
10 Arm_ControlCmd1 Extended 0x18218081 Cycle 50 8 Arm_Cmd1 机械臂指令1 遥控器
11 Arm_modeCmd 机械臂模式 Intel 0 Cycle 1 Unsigned 1 0=无效 1=有效 机械臂模式时置“1”
12 Arm_enable 机械臂使能 Intel 1 Cycle 1 Unsigned 0=未使能 1=使能
13 Reserve 机械臂预留 Intel 2 Cycle 6 Unsigned 1
14 UpDown_motion 末端位置上下动作 Intel 8 Cycle 16 Unsigned 1 0-4096 左侧摇杆 Z轴（左旋：0、中位2048、右旋：4096） 机械臂模式时 左侧摇杆
15 LeftRight_motion 末端位置左右动作 Intel 24 Cycle 16 Unsigned 1 0-4096 左侧摇杆 X轴（左：0、中位2048、右：4096）
16 FrontRear_motion 末端位置前后动作 Intel 40 Cycle 16 Unsigned 1 0-4096 左侧摇杆 Y轴（后：0、中位2048、前：4096）
17 Arm_ControlCmd2 Extended 0x18228081 Cycle 50 8 Arm_Cmd2 机械臂指令2 遥控器
18 Roll_motion 末端姿态横滚动作 Intel 0 Cycle 16 Unsigned 1 0-4096 右侧摇杆 X轴 （左：0、中位2048、右：4096） 右侧摇杆
19 Pitch_motion 末端姿态俯仰动作 Intel 16 Cycle 16 Unsigned 1 0-4096 右侧摇杆 Y轴 （后：0、中位2048、前：4096）
20 Yaw_motion 末端姿态偏航动作 Intel 32 Cycle 16 Unsigned 1 0-4096 右侧摇杆 Z轴 （左旋：0、中位2048、右旋：4096）
21 System_homing_pause 系统回位/暂停 Intel 48 Cycle 8 Unsigned 1 0xAA=系统回位 0x55=暂停回位
22 Decontam_ControlCmd Extended 0x18238081 Cycle 100 8 Decontam_Control 洗消系统指令 遥控器
23 Decontam_modeCmd 洗消模式选择 Intel 0 Cycle 2 Unsigned 1 2=手动消除 3=手动消毒 =DISPIMG("ID_66C333C31FE34D3A966FE7FB8979E20E",1) 设置完可以保存 重启后读取上一次设置数值
24 Decontam_start 洗消启停 Intel 2 Cycle 1 Unsigned 1 0=停止 1=启动
25 Reserve 预留 Intel 3 Cycle 5 Unsigned 1 置0
26 Expansion_ratioCmd 发泡倍数 Intel 8 Cycle 8 Unsigned 1 6-12 倍可调范围
27 Foam_ratio 泡沫比例 Intel 16 Cycle 8 Unsigned 1 % 0-10%
28 AirComp_flow 空压机流量 Intel 24 Cycle 8 Unsigned 1 L/min 0-340L/min
29 PlungerPump_flow 柱塞泵流量 Intel 32 Cycle 8 Unsigned 1 L/min 0-24L/min
30 Decontam_DebugCmd Extended 0x18248081 Cycle 100 8 Decontam_Debug 洗消调试指令 遥控器
31 Debug_mode 调试模式 Intel 0 Cycle 1 Unsigned 1 0=正常模式 1=调试模式
32 PlungerPump_PwrOn 柱塞泵上电 Intel 1 Cycle 1 Unsigned 1 0=下电 1=上电
33 AirComp_PwrOn 空压机上电 Intel 2 Cycle 1 Unsigned 1 0=下电 1=上电
34 VanePump_PwrOn 叶片泵上电 Intel 3 Cycle 1 Unsigned 1 0=下电 1=上电
35 MBV_D1__PwrOn 电动球阀D1 Intel 4 Cycle 1 Unsigned 1 0=关闭 1=开启
36 MBV_D2__PwrOn 电动球阀D2 Intel 5 Cycle 1 Unsigned 1 0=关闭 1=开启
37 Debug_Reserve1 调试预留1 Intel 6 Cycle 2 Unsigned 1
38 AirComp_Spd 空压机转速 Intel 8 Cycle 16 Unsigned 1 rpm 0-3000rpm
39 PlungerPump_Spd 柱塞泵转速 Intel 24 Cycle 16 Unsigned 1 rpm 0-1450rpm
40 VanePump__Spd 叶片泵转速 Intel 40 Cycle 16 Unsigned 1 rpm 0-2000rpm
41 AirComp_start 空压机启停 Intel 56 Cycle 1 Unsigned 1 0=停止 1=启动
42 PlungerPump_start 柱塞泵启停 Intel 57 Cycle 1 Unsigned 1 0=停止 1=启动
43 VanePump_start 叶片泵启停 Intel 58 Cycle 1 Unsigned 1 0=停止 1=启动
44 Detector_ControlCmd Extended 0x18258081 Cycle 1000 8 Detector_Cmd 气体检测设备指令 - 遥控器
45 Detector_start 启停指令 Intel 0 Cycle 8 Unsigned 1 0xAA=启动检测 0x55=停止检测 =DISPIMG("ID_F9FC5542F4E84DA1B522F1EEC3593D3C",1)
46 Emergency_Cmd Extended 0x18268081 Cycle 50 8 Emergency_Stop 紧急停止指令 遥控器
47 Emerg_stop 紧急停止 Intel 0 Cycle 8 Unsigned 1 0x55=急停 0=正常
48 Vehicle_StatusFeedBack1 Extended 0x18308180 Cycle 100 8 Chassis_WorkStatus1 底盘状态1(BMS系统) VCU
49 Total_voltage 总电压 Intel 0 Cycle 16 Unsigned 0.1 BMS系统故障
50 SOC 电量SOC Intel 16 Cycle 16 Unsigned 0.1
51 MCU_FaultCode 底盘电机故障码 Intel 32 Cycle 8 Unsigned 1 6:电机缺相预警 17:控制器过温警告 18:电机过温警告 19:控制器温度传感器警告 20:电机温度传感器警告 21:控制器过载警告 22:电机超速警告 23:直流母线电压过压警告 24:直流母线电压欠压警告 35:电流霍尔传感U相器故障 36:电流霍尔传感W相器故障 37:VCU报文丢失故障 38:VCU循环计数错误 39:VCU校验和错误 40:CAN BussOff故障 49:母线硬件过压故障 50:相电流硬件过流故障 51:IGBT短路故障 52:驱动欠压故障 53:旋变故障 54:电机超速故障 55:低压电源过压故障 56:低压电源欠压故障 57:直流母线电压过压故障 58:直流母线电压欠压故障 59:控制器过温故障 60:电机过温故障 61:电机缺相故障 62:驻坡失效故障 两个数值同时发送，配合使用 例如： 底盘电机故障码：18 底盘电机故障等级：1 显示： 底盘电机：18-电机过温警告，1级 不会出现故障等级是0，但是有故障码的情况 底盘电机故障
52 MCU_FaultLevel 底盘电机故障等级 Intel 40 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障
53 底盘预留 预留 Intel 42 Cycle 3 Unsigned 1 ？
54 UnderOver_FaultLevel 单体过低故障等级 Intel 45 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障 BMS系统故障
55 CellOver_FaultLevel 单体过高故障等级 Intel 47 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障
56 UnderVol_FaultLevel 总电压过低故障等级 Intel 49 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障;
57 OverVol_FaultLevel 总电压过高故障等级 Intel 51 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障;
58 DischgLowTmp_FaultLevel 放电温度过低故障等级 Intel 53 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障
59 DischgOverTmp_FaultLevel 放电温度过高故障等级 Intel 55 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障
60 ChgLowTmp_FaultLevel 充电温度过低故障等级 Intel 57 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障
61 ChgOverTmp_FaultLevel 充电温度过高故障等级 Intel 59 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障
62 TI_FaultLevel 温度不均衡故障等级 Intel 61 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障
63 Vehicle_StatusFeedBack2 Extended 0x18318180 Cycle 100 8 Chassis_WorkStatus2 底盘状态2(BMS系统) VCU
64 VI_FaultLevel 压差不均衡故障等级 Intel 0 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障
65 DischgOverCurr_FaultLevel 放电过流故障等级 Intel 2 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障
66 ChgOverCurr_FaultLevel 充电过流故障等级 Intel 4 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障
67 InComm_FaultLevel 内部通讯故障 Intel 6 Cycle 2 Unsigned 1 0:正常;1:故障;
68 ExtComm_FaultLevel 外部通讯故障 Intel 8 Cycle 2 Unsigned 1 0:正常;1:故障;
69 SOC_Low_FaultLevel SOC过低故障等级 Intel 10 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障
70 Insulation_FaultLevel 绝缘故障等级 Intel 12 Cycle 2 Unsigned 1 0:正常;1:一级故障;2:二级故障;3:三级故障
71 HeatRelay welding 加热继电器粘连 Intel 14 Cycle 2 Unsigned 1 0:正常;1:故障;
72 ChgRelay welding 充电继电器粘连 Intel 16 Cycle 2 Unsigned 1 0:正常;1:故障;
73 MainNegRelay welding 总负继电器粘连 Intel 18 Cycle 2 Unsigned 1 0:正常;1:故障;
74 MainPosRelay welding 总正继电器粘连 Intel 20 Cycle 2 Unsigned 1 0:正常;1:故障;
75 Handbrake 手刹信号 Intel 22 Cycle 2 Unsigned 1 0:无效;1:有效; 20260804删除
76 Vehi_spd 车速 Intel 24 Cycle 8 Unsigned 0.01 km/h
77 Vehi_RdyStatus 底盘ready状态 Intel 32 Cycle 2 Unsigned 1 0=初始状态 1=高压上电完成 2=准备就绪
78 Reserve 底盘预留 Intel 34 Cycle 6 Unsigned 1
79 All_Comm_FaultCode 整系统通信故障码 Intel 40 Cycle 8 Unsigned 1 0=通信正常 1=底盘电机通信异常 2=底盘BMS通信异常 3=机械臂通信异常 4=空压机通信异常 5=柱塞泵通信异常 6=叶片泵通信异常 7=气体检测仪通信异常 8=遥控器通信异常
80 Arm_StatusFeedBack1 Extended 0x18328180 Cycle 100 8 Arm_WorkStatus1 机械臂状态1 VCU
81 End_positionX 末端位置：X Intel 0 Cycle 16 Signed 1 mm
82 End_positionY 末端位置：Y Intel 16 Cycle 16 Signed 1 mm
83 End_positionZ 末端位置：Z Intel 32 Cycle 16 Signed 1 mm
84 Arm_StatusFeedBack2 Extended 0x18338180 Cycle 100 8 Arm_WorkStatus2 机械臂状态2 VCU
85 End_postureRX 末端姿态：RX Intel 0 Cycle 16 Signed 1
86 End_postureRY 末端姿态：RY Intel 16 Cycle 16 Signed 1
87 End_postureRZ 末端姿态：RZ Intel 32 Cycle 16 Signed 1
88 End_spd 末端速度 Intel 48 Cycle 8 Signed 1
89 Arm_StatusFeedBack3 Extended 0x18348180 Cycle 100 8 Arm_WorkStatus3 机械臂状态3 VCU
90 Joint1_angle Joint1关节角 Intel 0 Cycle 16 Signed 1 °
91 Joint2_angle Joint2关节角 Intel 16 Cycle 16 Signed 1 °
92 Joint3_angle Joint3关节角 Intel 32 Cycle 16 Signed 1 °
93 Joint4_angle Joint4关节角 Intel 48 Cycle 16 Signed 1 °
94 Arm_StatusFeedBack4 Extended 0x18358180 Cycle 100 8 Arm_WorkStatus4 机械臂状态4 VCU
95 Joint5_angle Joint5关节角 Intel 0 Cycle 16 Signed 1 °
96 Joint6_angle Joint6关节角 Intel 16 Cycle 16 Signed 1 °
97 Decontam_StatusFeedBack1 Extended 0x18368180 Cycle 200 8 Decontam_WorkStatus1 洗消系统工作状态1 VCU
98 Decontam_mode 洗消模式 Intel 0 Cycle 2 Unsigned 1 2=消除作业 3=消毒作业
99 Start 启停 Intel 2 Cycle 1 Unsigned 1 0=停止 1=启动
100 PlungerPump_PwrOnSta 柱塞泵上电sta Intel 3 Cycle 1 Unsigned 1 0=未上电 1=上电
101 AirComp_PwrOnSta 空压机上电sta Intel 4 Cycle 1 Unsigned 1 0=未上电 1=上电
102 VanePump_PwrOnSta 叶片泵上电sta Intel 5 Cycle 1 Unsigned 1 0=未上电 1=上电
103 A_LiquidLevel_Low A组分/清水液位低 Intel 6 Cycle 1 Unsigned 1 0=正常 1=液位低
104 B_LiquidLevel_Low B组分液位低 Intel 7 Cycle 1 Unsigned 1 0=正常 1=液位低
105 MBV_D1_Sta 电动球阀D1sta Intel 8 Cycle 1 Unsigned 1 0=关闭到位 1=开启到位
106 MBV_D2_Sta 电动球阀D2sta Intel 9 Cycle 1 Unsigned 1 0=关闭到位 1=开启到位
107 Sys_fault 系统故障 Intel 10 Cycle 1 Unsigned 1 0=无故障 1=故障
108 Sta_reserve 状态预留 Intel 11 Cycle 5 Unsigned 1 置0
109 PartA_Water level A组分/清水液位 Intel 16 Cycle 8 Unsigned 1
110 Foam_level B组分液位 Intel 24 Cycle 8 Unsigned 1
111 ChemicalA_flow A药剂流量 Intel 32 Cycle 8 Unsigned 1
112 ChemicalB_flow B药剂流量 Intel 40 Cycle 8 Unsigned 1
113 Air_flow 气体流量 Intel 48 Cycle 8 Unsigned 1
114 Expansion_ratio 发泡倍数 Intel 56 Cycle 8 Unsigned 1
115 Decontam_StatusFeedBack2 Extended 0x18378180 Cycle 200 8 Decontam_WorkStatus2 洗消系统工作状态2 VCU
116 Pipe_pressure 管路压力 Intel 0 Cycle 8 Unsigned 0.1 Mpa
117 AirComp_pressure 空压机压力 Intel 8 Cycle 8 Unsigned 0.1 Mpa
118 PlungerPump_flowFB 柱塞泵流量反馈 Intel 16 Cycle 8 Unsigned 1
119 AirComp_flowFB 空压机流量反馈 Intel 32 Cycle 8 Unsigned 1
120 VanePump__flowFB 叶片泵流量反馈 Intel 40 Cycle 8 Unsigned 1
121 AirComp_FaultCode 空压机故障代码 Intel 48 Cycle 8 Unsigned 1 2=加速过流;3=减速过流;4=恒速过流;5=加速过压;6=减速过压;7=恒速过压;8=缓冲过载;9=欠压;10=控制器过载;11=电机过载;12=输入缺相;13=输出缺相;14=模块过热;15=外部故障;16=通信异常;17=接触器异常;18=电流检测故障;19=自学习故障;20=编码器故障;21=参数读写异常;22=变频器硬件故障;23=电机对地短路故障;31=PID反馈丢失;40=快速限流超时故障;42=速度偏差过大;43=电机超速;45=电机过温;90=编码器线数设定错误;91=未接编码器;92=初始位置错误;94=速度反馈错误;
122 PlungerPump_FaultCode 柱塞泵故障代码 Intel 56 Cycle 8 Unsigned 1 1=短路故障;2=欠压;3=过压;4=控制器过温;5=控制器温度传感器故障;6=电机过温;7=电机温度传感器故障
123 Detector_StatusFeedBack1 Extended 0x18388180 Cycle 1000 8 Detector_WorkStatus1 气体检测设备结果状态1 VCU
124 Detector_Sta 检测仪当前状态 Intel 0 Cycle 8 Unsigned 1 2=计算目标基线状态 3=等待稳定状态 4=检测状态 5=等待点火状态 6=确定初始基线状态
125 Toxic_types 有毒物种类 Intel 8 Cycle 8 Unsigned 1 1=P类 2=S类 4=HNO类 8=CH类 16=AS类
126 Toxicity_level 有毒物等级 Intel 16 Cycle 8 Unsigned 1 等级1-5
127 Warnning 告警信息 Intel 24 Cycle 8 Unsigned 1 1=进气嘴未接 2=氢气流量不足 4=仪器故障 8=浓度过高
128 Detector_StatusFeedBack2 Extended 0x18398180 Cycle 1000 8 Detector_WorkStatus2 气体检测设备结果状态2 VCU
129 Toxic_ concentration 有毒物浓度 Intel 0 Cycle 40 Unsigned 1 ppb 有毒物浓度：单位PPB，1000PPB=1PPM.
130 Vehicle_StatusFeedBack2 Extended 0x183A8180 Cycle 100 8 Chassis_WorkStatus3 底盘状态3 VCU
131 EPS_RotAngNotAligned EPS转子角未对中 Intel 0 Cycle 1 Unsigned 1 转向制动系统故障 故障码待确认
132 EPS_RotAngDisconn EPS转子角度断开 Intel 1 Cycle 1 Unsigned 1
133 EPS_RotAng_SPI_Fault EPS转子角度SPI故障 Intel 2 Cycle 1 Unsigned 1
134 EPSEEPROM_Fault EPSEEPROM_故障 Intel 3 Cycle 1 Unsigned 1
135 EPS_MidpointNotAligned EPS方向盘中点未对中 Intel 4 Cycle 1 Unsigned 1
136 EPS_Angle_exceeds EPS方向盘角度超限 Intel 5 Cycle 1 Unsigned 1
137 EPS_Smalltooth_Disconn EPS方向盘小齿信号断开 Intel 6 Cycle 1 Unsigned 1
138 EPS_Gearsignal_Disconn EPS方向盘中齿信号断开 Intel 7 Cycle 1 Unsigned 1
139 EPS_overcurrent_fault EPS过电流故障 Intel 8 Cycle 1 Unsigned 1
140 EPS_A_phase_CurrAbnormal EPS电机A相电流异常 Intel 9 Cycle 1 Unsigned 1
141 EPS_C_phase_CurrAbnormal EPS电机C相电流异常 Intel 10 Cycle 1 Unsigned 1
142 EPS_B_phase_CurrAbnormal EPS电机B相电流异常 Intel 11 Cycle 1 Unsigned 1
143 EPSVCU_signal_loss EPSVCU信号丢失 Intel 12 Cycle 1 Unsigned 1
144 EPS_without_assistance EPS电机无助力 Intel 13 Cycle 1 Unsigned 1
145 EPS_pre_config_failed EPS预驱配置失败 Intel 14 Cycle 1 Unsigned 1
146 EPS_semi_stall_protect EPS半堵转保护 Intel 15 Cycle 1 Unsigned 1
147 EPS_Temp_thermal_protect EPS温度热保护 Intel 16 Cycle 1 Unsigned 1
148 EPS_vol_ManageProtect EPS电压管理保护 Intel 17 Cycle 1 Unsigned 1
149 EPS_response_NotInPlace EPS转角响应不到位 Intel 18 Cycle 1 Unsigned 1
150 EPS_angle_PWM_fault EPS转子角度PWM故障 Intel 19 Cycle 1 Unsigned 1
151 EPS_vol_verify_anomaly EPS电压校验异常 Intel 20 Cycle 1 Unsigned 1
152 EPS_thermistor_open_or_short EPS热敏电阻开路或短路 Intel 21 Cycle 1 Unsigned 1
153 EPS_thermistor_TempDiff_too_large EPS热敏电阻温差过大 Intel 22 Cycle 1 Unsigned 1
154 Brake_overload_fault 制动器过载故障 Intel 23 Cycle 1 Unsigned 1
155 Brake_overTemppres_fault 制动器过温或过压故障 Intel 24 Cycle 1 Unsigned 1
156 Brake_overcurrent_fault 制动器过流故障 Intel 25 Cycle 1 Unsigned 1
157 Brake_undervoltage_fault 制动器电源欠压故障 Intel 26 Cycle 1 Unsigned 1
158 Brake_overvoltage_fault 制动器电源过压故障 Intel 27 Cycle 1 Unsigned 1
159 Insufficient_brake_pressure 制动器压力不足 Intel 28 Cycle 1 Unsigned 1
160 Brake_Phase_loss_fault 制动器缺相故障 Intel 29 Cycle 1 Unsigned 1
161 Brake_Comm_fault 制动器通讯故障 Intel 30 Cycle 1 Unsigned 1
162 Brake_Curr_sample_fault 制动器电流采样故障 Intel 31 Cycle 1 Unsigned 1
163 Brake_drive_failure 制动器驱动故障 Intel 32 Cycle 1 Unsigned 1
164 Brake_magnetic_encoder_fault 制动器磁编故障 Intel 33 Cycle 1 Unsigned 1
165 Brake_pressure_sensor_fault 制动器压力传感器故障 Intel 34 Cycle 1 Unsigned 1
166 Brake_pedal_position_fault 制动器踏板位置传感器故障 Intel 35 Cycle 1 Unsigned 1
167 Brake_Mechanical_failure 制动器机械故障 Intel 36 Cycle 1 Unsigned 1
168 Brake_locked_rotor_fault 制动器堵转故障 Intel 37 Cycle 1 Unsigned 1
169 Brake_Emerg_stop_closed 制动器急停按键闭合警告 Intel 38 Cycle 1 Unsigned 1
170 Brake_applied_too_long 制动器驻车时间过长 Intel 39 Cycle 1 Unsigned 1
171 Brake_CAN1_interrupt_warning 制动器CAN1中断警告 Intel 40 Cycle 1 Unsigned 1
172 Brake_CAN2_interrupt_warning 制动器CAN2中断警告 Intel 41 Cycle 1 Unsigned 1
173 Brake_ignition_disconnected 制动器点火线断开警告 Intel 42 Cycle 1 Unsigned 1
174 Brake_Abnormal_current 制动器电流异常警告 Intel 43 Cycle 1 Unsigned 1
175 Brake_Temp_too_high 制动器温度过高警告 Intel 44 Cycle 1 Unsigned 1
176 Brake_input_vol_too_high 制动器输入电压过高警告 Intel 45 Cycle 1 Unsigned 1
177 Brake_Reserve 制动预留 Intel 46 Cycle 2 Unsigned 1
178 EPS_error_code EPS故障码 Intel 48 Cycle 8 Unsigned 1
179 Vehicle_StatusFeedBack2 Extended 0x183B8180 Cycle 100 8 Chassis_WorkStatus4 底盘状态4 VCU
180 Gear_Position 挡位状态 Intel 0 Cycle 2 Unsigned 1 0:N挡;1:D挡;2:R挡
181 Parking_Status 驻车状态 Intel 2 Cycle 2 Unsigned 1 0x00:未驻车;0x01:左电机驻车;0x02:右电机驻车;0x03:完全驻车;
182 AWD_Mode_Status 四驱模式反馈 Intel 4 Cycle 2 Unsigned 1 0:二驱模式;1:四驱模式;2:四驱锁定模式;
183 底盘预留 状态4预留 Intel 6 Cycle 2 Unsigned 1
184 Steering_Angle 方向盘角度 Intel 8 Cycle 16 Unsigned 1
185 Angle_alignment_status 角度对中状态 Intel 24 Cycle 8 Unsigned 1 0:未进行过角度对中;0x11:角度对中失败;0xee:角度对中成功;0x55:已对中成功;
186 Brake_Right_Mot_fault 左制动电机故障状态 Intel 32 Cycle 8 Unsigned 1 0x00:无故障;0x01:电机开路;0x02:电机短路;0x03:制动执行超时;0x04:解除制动执行超时;0x05:驱动电路故障;0x06:供电电压过低;0x07:供电电压过高; 转向制动系统故障
187 Brake_Left_Mot_fault 右制动电机故障状态 Intel 40 Cycle 8 Unsigned 1 0x00:无故障;0x01:电机开路;0x02:电机短路;0x03:制动执行超时;0x04:解除制动执行超时;0x05:驱动电路故障;0x06:供电电压过低;0x07:供电电压过高;