50
20 - Wheel System, Traction
Operational Mode Prerequisites
Before the main controller can activate any of the operational modes, it must first check that the appropriate
prerequisites are met
•
Drive Controller outputs
– Drive wheel motor
◦ No “interlock” message from the main controller on the CAN bus (only active during auto disc brush
install mode)
Troubleshooting
Drive Controller (E4) Error Codes
The drive controller error codes will be displayed on the main display However, the error number is also
flashed on the two-color status LED on the module itself. The status LED has 2 colors; red and yellow. The
red LED will flash out which digit of the code is coming next, and the yellow LED will flash out the value of
that digit
For example, to flash out an M4 Overload error with a code of 034, the red LED will flash once, followed by
the yellow LED flashing 3 times. Then the red LED will flash twice, followed by the yellow LED flashing 4
times
Code
Description
Comments
3-001
E4 Timeout
This error is generated by the main machine controller when the drive
controller fails to communicate when expected.
3-012
Control Overcurrent
The output phase current exceeded permissible limits. Check the phase
connections to the motor for shorts.
3-013
Current Sensor
The internal current sensors have an invalid reading. Troubleshoot the motor
for shorts in the windings or power leads.
3-014
Precharge Fail
The capacitor bank failed to charge to KSI voltage. The K3 relay will not be
permitted to close.
• Check the KSI relay for loose connections or voltage drop.
3-015
Severe UnderTemp
The controller’s internal temp is below -40°C. The controller will be disabled.
3-016
Severe OverTemp
The controller’s internal temp is above 95°C. The controller will be disabled.
3-017
Severe UnderVolt
The capacitor bank voltage dropped below the preset limit. The drive will
reduce power to the motor.
3-018
Severe OverVolt
The capacitor bank voltage exceeded the preset limit. The drive will be
disabled.
3-022
OverTemp Cutback
The internal temperature exceeded 85°C. The output power will be reduced.
3-023
UnderVolt Cutback
The capacitor bank voltage dropped below the under voltage limit. The output
power will be reduced. This may happen if the batteries are depleted.
3-024
OverVolt Cutback
The capacitor bank voltage exceeded limits during regenerative braking.
3-025
+5V Fault
The 5 volt supply is out of range. Likely due to excessive load.
3-028
Motor Hot Cutback
The wheel motor temperature is above the setpoint. The output will be
reduced.
3-029
Motor Temp Sensor
The motor temperature thermistor is showing either 0 or 10 volts. Temperature
not available, drive torque reduced.
3-031
K3 Coil Fault
The K3 relay coil is either opened or shorted.
