"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;,,,