電動汽車技術(shù)通訊協(xié)議

1、高速CAN網(wǎng)絡(luò)ID列表ID發(fā)送單元發(fā)送周期（ms）描述數(shù)據(jù)長度位速率0x300VCU_MSG11064111000x301VCU_MSG2506422200x278VCU_MSG31064111000x330MCU_MSG1506422200x331MCU_MSG2506422200x332MCU_MSG3100調(diào)試用故障信息16422200x334MCU_MSG4100調(diào)試用故障信息26422200x390DC/DC_MSG100641110IDTransmitter ECUDLCPeriod(ms)TypeDescription0x300VCU810PVCU_MSG1W11 HS CAN

2、Message ListSignal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUMCU_Control_Mode電機控制模式00.120x0：無效0x1：轉(zhuǎn)矩模式0x2：轉(zhuǎn)速模式0x3：無效0x0TRRDC/DC_EnableDC/DC使能310x0：關(guān)閉0x1：打開0x0TRBMS_HV_EnableBMS高壓上電使能410x0：下電0x1：上電0x0TRVehicle_Status車輛狀態(tài)5.620x0：系統(tǒng)自檢0x1：系統(tǒng)預(yù)充電0x2：可行駛

3、0x3：禁止0x3TRRRBrake_Status制動狀態(tài)710x0：未踩制動0x1：踩制動0x0TRRMotor_Torque_MSB電機轉(zhuǎn)矩高字節(jié)18.158DATA*1-3000（N.m）正值：電機正轉(zhuǎn)負(fù)值：電機反轉(zhuǎn)0x0TRMotor_Torque_LS電機轉(zhuǎn)矩低字節(jié)216.238Signal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUMotor_MAXInput Current電機最大輸入電流限制324.318DATA*1(A)0x0TR

4、RMotor_MAX_Generate Current電機發(fā)電電流限制432.398DATA*1（A）0x0TRRMotor_Speed_MSB電機轉(zhuǎn)速高字節(jié)540.478DATA*1-32000（PRM）正值：電機正轉(zhuǎn)負(fù)值：電機反轉(zhuǎn)0x0TRMotor_Speed_LSB電機轉(zhuǎn)速低字節(jié)648.558TR循環(huán)計數(shù)756.6380255IDTransmitter ECUDLCPeriod(ms)TypeDescription0x301VCU850PVCU_MSG2W11 HS CAN Message ListSignal NameDescriptionByteBit PosLength(bit)

5、ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUVCU_Fault_StatusVCU故障狀態(tài)00.120x0：正常0x1：一級故障0x2：二級故障0x3：三級故障0x0TRDiagnosis_Mode診斷狀態(tài)210x0：關(guān)閉0x1：打開0x0TRRGear_Position檔位狀態(tài)3.530x0：無效0x1：P0x2：N0x3：D0x4：R0x0TRRRRRAccelerate_Pedal_Invalid油門踏板有效位18.920x0：有效0x1：無效0x2：故障0x0TRRRESC DragTorque Response

6、FlagESC降扭請求響應(yīng)標(biāo)志位1010x0：可以響應(yīng)0x1：不能響應(yīng)0x0TRRBrake_Sensor_Invalid制動踏板行程傳感器失效1110x0：Normal0x1：Fault0x0TRRSignal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUPump_PressureSensor_Invalid真空助力壓力傳感器失效11210x0：Normal0x1：Fault0x0TRRBrake_SW_Invalid制動踏板開關(guān)失效1410x0：

7、Normal0x1：Fault0x0TRRHardware FaultVCU硬件故障21710x0：Normal0x1：Fault0x0TRRCommunication FaultVCU通訊故障1810x0：Normal0x1：Fault0x0TRRCrash_SIG_Fault碰撞信號故障1910x0：Normal0x1：Fault0x0TRRBrake_Fluid_Level制動液位狀態(tài)2010x0：Normal0x1：制動液位報警0x0TRRRAccelerate_SIG_Value油門踏板開度324.318DATA*0.392(%)0x0TRRRBrake_SIG_Value制動踏板開

8、度432.398DATA*0.392(%)0x0TRRRPTC_StatusPTC狀態(tài)54010x0：關(guān)閉0x1：打開0x0THVAC_Status空調(diào)狀態(tài)4110x0：關(guān)閉0x1：打開0x0TSignal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCURadiator_Fan_Status散熱風(fēng)扇狀態(tài)54210x0：關(guān)閉0x1：打開0x0TRPump_Status電機冷卻水泵狀態(tài)4310x0：關(guān)閉0x1：打開0x0TRAuxiliary_Charge

9、_Relay_Status充電輔助繼電器狀態(tài)4410x0：斷開0x1：閉合0x0TRCrash_SIG車輛碰撞信號4510x0：正常0x1：碰撞0x0TRRActive ECO Status主動ECO狀態(tài)64810x0：關(guān)閉0x1：打開0x0TRRPassive ECO Status被動ECO狀態(tài)4910x0：關(guān)閉0x1：打開0x0TRRCruise Status定速巡航狀態(tài)5010x0：關(guān)閉0x1：打開0x0TRL_Door Status左門開關(guān)狀態(tài)5110x0：Open0x1：Close0x0TRDriver_Seat_Belt_Status駕駛員安全帶狀態(tài)5210x0：未系0x1：系0x

10、0TR循環(huán)計數(shù)756.6380255IDTransmitter ECUDLCPeriod(ms)TypeDescription0x278VCU810PVCU_MSG3W11 HS CAN Message ListSignal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUBrake_Status剎車狀態(tài)437.3820x0：未處于制動狀態(tài)0x1：處于制動狀態(tài)0x2：保留0x3：故障0x0TRRIDTransmitter ECUDLCPeriod(ms)

11、TypeDescription0x330MCU850PMCU_MSG1W11 HS CAN Message ListSignal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUMotor Control Mode電機控制模式00.120x0：無效0x1：轉(zhuǎn)矩模式0x2：轉(zhuǎn)速模式0x3：無效0x0RTMotor Control Status電機控制器狀態(tài)210x0：停止0x1：運行0x0RRTMCU RPM SIG ValidMCU 轉(zhuǎn)速信號有效性310

12、x0：無效0x1：有效0x0RRTMotor Torque Output_MSB電機實際輸出轉(zhuǎn)矩高字節(jié)18.158DATA*1-3000（N.m）正值：扭矩正負(fù)值：扭矩負(fù)0x0RRRRTMotor Torque Output_LSB電機實際轉(zhuǎn)矩輸出低字節(jié)216.238Motor Actual RPM_MSB電機實際轉(zhuǎn)速高字節(jié)324.318DATA*1-32000（PRM）正值：電機正轉(zhuǎn)負(fù)值：電機反轉(zhuǎn)0x0RRRRTMotor Actual RPM_LSB電機實際轉(zhuǎn)速低字節(jié)432.398Motor Temperature電機溫度540.478DATA*1-50(）0x0RTMCU Tempera

13、ture電機控制器溫度648.558DATA*1-50(）0x0RTSignal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCU循環(huán)計數(shù)756.6380255IDTransmitter ECUDLCPeriod(ms)TypeDescription0x331MCU850PMCU_MSG2W11 HS CAN Message ListSignal NameDescriptionByteBit PosLength(bit)ConversionInitial

14、 ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUMCU HV_MSBMCU母線電壓高字節(jié)00.78DATA*1(V)0x0RRTMCU HV_LSBMCU母線電壓低字節(jié)18.158MCU HV Current_MSBMCU母線電流高字節(jié)216.238DATA*1-1000（A）正值：工作電流負(fù)值：回饋電流0x0RRTMCU HV Current_LSBMCU母線電流低字節(jié)324.318Motor Fault Status電機故障狀態(tài)432.3430x0：正常0x1：一級故障0x2：二級故障0x3：三級級故障0x4：四級故障0x0RTMCU Self Diagn

15、ostic StatusMCU自檢狀態(tài)35.3620x0：無效0x1：自檢中0x2：自檢成功0x3：自檢失敗0x0RTMCU Diagnostic StatusMCU診斷狀態(tài)3710x0：關(guān)閉0x1：打開0x0RTSignal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUMCU Max Torque Output MSB電機當(dāng)前可輸出最大扭矩高字節(jié)540.478DATA*1（N.m）0x0RRRTMCU Max Torque Output LSB電機

16、當(dāng)前可輸出最大扭矩低字節(jié)648.558循環(huán)計數(shù)756.6380255IDTransmitter ECUDLCPeriod(ms)TypeDescription0x332MCU850PMCU_MSG3W11 HS CAN Message ListSignal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUHV_UnderVOL母線欠壓0010x0：正常0x1：故障0x0RTHV_OverVOL母線過壓110x0：正常0x1：故障LV_UnderVOL低壓

17、欠壓210x0：正常0x1：故障0x0RTLV_OverVOL低壓過壓310x0：正常0x1：故障HV_Current_Fault母線電流故障410x0：正常0x1：故障0x0TPhase_OverCurrent相電流過流510x0：正常0x1：故障0x0TD/Q_Axie_OverCurrentD/Q軸電流超限610x0：正常0x1：故障0x0TT_Phase_GND_Short三相接地短路710x0：正常0x1：故障0x0TU_Phase_Output_FaultU相輸出故障1810x0：正常0x1：故障0x0TV_Phase_Output_FaultV相輸出故障910x0：正常0x1：故

18、障0x0TSignal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUV_Phase_Output_FaultW相輸出故障11010x0：正常0x1：故障0x0TIGBT_FaultIGBT故障1110x0：正常0x1：故障0x0TIGBT_U_Phase_OverTempIGBT U相過熱停機1210x0：正常0x1：故障0x0TMotor_OverTemp電機過熱停機1310x0：正常0x1：故障0x0TMCU_DrivingBoard_OverT

19、emp驅(qū)動板過熱停機1410x0：正常0x1：故障0x0TRadiator_OverTemp散熱器過熱停機1510x0：正常0x1：故障0x0TMotor Locked_Rotor電機堵轉(zhuǎn)21610x0：正常0x1：故障0x0TMotor OverSpeed電機過速1710x0：正常0x1：故障0x0TBackEMF_Fault反電勢錯誤1810x0：正常0x1：故障0x0TCommunication_Fault通訊錯誤1910x0：正常0x1：故障0x0TResolver_DATAReading_Fault旋變讀故障2010x0：正常0x1：故障0x0TResolver_DATALost旋變

20、信號丟失2110x0：正常0x1：故障0x0TSignal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUHVIL_Fault高壓互鎖故障22210x0：正常0x1：故障0x0TEEPROM_R/W_FaultEEPROM讀寫異常2310x0：正常0x1：故障0x0THV_UnderVOLInd母線欠壓報警32410x0：正常0x1：故障0x0THV_OverVOLInd母線過壓報警2510x0：正常0x1：故障0x0TMotor_OverTempIn

21、d電機過熱報警2610x0：正常0x1：故障0x0TMCUDrivingBoardOverTempInd驅(qū)動板過熱報警2710x0：正常0x1：故障0x0TIGBT_OverTempIndIGBT過熱報警2810x0：正常0x1：故障0x0TMotorOverLoadInd電機過載報警2910x0：正常0x1：故障0x0TMotorOverTorqueInd電機過轉(zhuǎn)矩報警2010x0：正常0x1：故障0x0TVCU_Instruction_AbnormalVCU指令異常3110x0：正常0x1：故障0x0T循環(huán)計數(shù)器756.6380255IDTransmitter ECUDLCPeriod(m

22、s)TypeDescription0x334MCU850PMCU_MSG4W11 HS CAN Message ListSignal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUU_PhaseOverTempU相過溫0010x0：正常0x1：故障0x0RTV_PhaseOverTempV相過溫110x0：正常0x1：故障W_PhaseOverTempW相過溫210x0：正常0x1：故障0x0RTMotorOverTemp電機過溫310x0：正常0x1

23、：故障DrivingBoardOverTemp板間溫度過高410x0：正常0x1：故障0x0TMCUOverTemp控制器溫度過高510x0：正常0x1：故障0x0TU_PhaseOverCurrentU相過流610x0：正常0x1：故障0x0TV_PhaseOverCurrentV相過流710x0：正常0x1：故障0x0TW_PhaseOverCurrentW相過流1810x0：正常0x1：故障0x0TUPhasePOSAxisCurrent_FaultU相電流正半軸故障910x0：正常0x1：故障0x0TSignal NameDescriptionByteBit PosLength(bit

24、)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUUPhaseNEGAxisCurrent_FaultU相電流負(fù)半軸故障11010x0：正常0x1：故障0x0TVPhasePOSAxisCurrent_FaultV相電流正半軸故障1110x0：正常0x1：故障0x0TVPhaseNEGAxisCurrent_FaultV相電流負(fù)半軸故障1210x0：正常0x1：故障0x0TWPhasePOSAxisCurrent_FaultW相電流正半軸故障1310x0：正常0x1：故障0x0TWPhaseNEGAxisCurrent_Fau

25、ltW相電流負(fù)半軸故障1410x0：正常0x1：故障0x0THV_VOL_Fault母線電壓故障1510x0：正常0x1：故障0x0THV_OverVOL母線過壓21610x0：正常0x1：故障0x0THV_UnderVOL母線欠壓1710x0：正常0x1：故障0x0TIGBT1_FaultIGBT1故障1810x0：正常0x1：故障0x0TIGBT2_FaultIGBT2故障1910x0：正常0x1：故障0x0TIGBT3_FaultIGBT3故障2010x0：正常0x1：故障0x0TIGBT4_FaultIGBT4故障2110x0：正常0x1：故障0x0TSignal NameDescriptionByteBit PosLength(bit)ConversionInitial ValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUIGBT5_FaultIGBT5故障22210x0：正常0x1：故障0x0TIGBT6_FaultIGBT6故障2310x0：正常0x1：故障0x0TIGBT_FaultIGBT故障32410x0：正常0x1：故障0x0TResolver_F