QT_wuhan_YT/洗消机器人遥控器通信协议20260810.csv

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;