7
Status error of drive (0: No failure 1: Failure)
Upper communication connection status (0: No failure 1: Failure)
Reserved, default 0
Reserved, default 0
Reserved, default 0
Reserved, default 0
Reserved, default 0
Reserved, default 0
Battery under-voltage failure (0: No failure 1: Failure)
Reserved, default 0
Remote control loss protection (0: No failure 1: Failure)
Steering motor drive communication failure (0: No failure 1: Failure)
Rear right motor drive communication failure (0: No failure 1: Failure)
Rear left motor drive communication failure (0: No failure 1: Failure)
Reserved, default 0
Front wheel steering encoder disconnection failure (0: No failure 1: Failure)
byte [4]
byte [5]
Byte
Bit
Meaning
Sending node
Steer-by-wire chassis
Data length
Position
byte [0]
byte [1]
Receiving node
Decision-making control unit
0×08
Function
Current status of
chassis body
Mode control
ID
0x211
Data type
unsigned int8
unsigned int8
Cycle (ms)
Receive-timeout (ms)
100ms
None
Description
0×00 System in normal condition
0×01 Emergency stop mode (not enabled)
0×02 System exception
byte [2]
byte [3]
byte [4]
byte [5]
Battery voltage higher 8 bits
Battery voltage lower 8 bits
Failure information higher 8 bits
Failure information lower 8 bits
unsigned int16
unsigned int16
byte [6]
byte [7]
Parking(brake) state
Parity bit (checksum)
unsigned int8
unsigned int8
Actual voltage × 10 (with an accuracy of 0.1V)
See notes for details
[Description of Failure Information]
0×00 Standby mode
0×01 CAN command control mode
0×02 Remote control mode
0×00 Brake unlocked state 0×01 Brake locked state
00-255 counting loops, which will be
added once every command sent
Table 3.1 Feedback Frame of HUNTER 2.0 Chassis System Status
System Status Feedback Frame
Command Name
Description of Failure Information
bit [0]
bit [1]
bit [2]
bit [3]
bit [4]
bit [5]
bit [6]
bit [7]
bit [0]
bit [1]
bit [2]
bit [3]
bit [4]
bit [5]
bit [6]
bit [7]
