AGV故障排除速查手冊

1、AGV故障診斷手冊1.AGV故障診斷概述41.1編寫本手冊的目的The purpose of the manual41.2AGV故障診斷手段41.3常見故障的分類52.AGV控制系統(tǒng)回顧72.1AGV控制系統(tǒng)結(jié)構(gòu)回顧72.2AGV控制系統(tǒng)的自動保護功能72.3在動態(tài)合裝段中停車的處理72.3.1合裝段的操作者暫停停車82.3.2合裝段的E-stop停車82.3.3合裝段的故障停車82.3.4合裝段的合裝超時停車83.AGV啟動故障93.1AGV啟動過程93.2啟動引導(dǎo)代理程序介紹93.3AGV主控制軟件Carryboy的啟動過程103.3.1參數(shù)文件裝入錯誤103.3.2CAN設(shè)備初始化失敗1

2、13.3.3AGV車體伺服軸初始化失敗113.3.4舵角校正失敗124. AGV一般設(shè)備故障的診斷134.1車體供電系統(tǒng)故障診斷134.2車體主控制器VCU100故障診斷154.3基本數(shù)字I/O故障的診斷164.4CAN通訊系統(tǒng)故障診斷184.5手控盒設(shè)備故障診斷194.6液晶顯示器故障診斷204.7保險杠及非接觸防碰設(shè)備故障診斷214.8磁導(dǎo)航傳感器及其接口模塊的故障診斷214.9磁地標(biāo)傳感器的故障診斷224.10車輪電機抱閘的故障診斷234.11車輪電機增量式編碼器故障診斷244.12車輪轉(zhuǎn)舵機構(gòu)電機伺服放大器故障診斷254.13車輪電機的故障診斷 Wheel motor fault di

3、agnosis264.14驅(qū)動輪測速機的故障診斷 Drive wheel tachometer fault diagnosis264.15AGV車輪舵角異常的診斷274.16無線接入點（Wireless Access Point）的故障診斷274.17車載無線通訊設(shè)備的故障診斷 On-board wireless communication fault diagnosis294.18同步跟蹤傳感器的故障診斷304.19提升機的故障診斷314.19.1提升機編碼器的故障診斷314.19.2提升機電機驅(qū)動器的故障診斷314.19.3提升機限位開關(guān)的故障診斷324.20地面輔助導(dǎo)航設(shè)備的故障診斷32

4、4.20.1導(dǎo)航帶失效324.20.2地標(biāo)帶失效324.20.3 RF-ID失效 Invalidation335. AGV運行典型故障診斷流程345.1自動運行中導(dǎo)航失敗345.2自動運行中地標(biāo)校正失敗 Landmark proofread failure during automatic running355.3自動運行無法登錄到控制臺365.4自動運行中無線通訊中斷 Wireless Communication loss during automatic running365.5失去ALLOK信號375.5.1失速保護機制原理375.5.2超差保護機制原理375.6車輪驅(qū)動故障375.7電

5、池電量過低 Battery Power Low386. AGV動態(tài)合裝故障的診斷396.1動態(tài)目標(biāo)捕捉失敗 Dynamic target catch failure396.2在沒有同步目標(biāo)的情況下誤報開始同步396.3動態(tài)跟蹤目標(biāo)丟失406.4動態(tài)合裝中提升機故障401. AGV故障診斷概述1.1 編寫本手冊的目的The purpose of the manual編寫本手冊的目的是介紹和描述AGV使用過程中可能出現(xiàn)的故障，并對這些故障的排查、診斷提供一套快速的診斷流程，以便于AGV維修人員能夠快速、準(zhǔn)確地查明故障的原因，并在最短時間內(nèi)將故障排除。The purpose of this manu

6、al is to describe the possible errors that may be encountered during the usage of the AGV, and to provide a quick diagnostic procedure for these errors. With the help of this manual, maintenance engineers will be able to pin-point most of the common troubles within short time. 1.2 AGV故障診斷手段同其它的控制系統(tǒng)故

7、障診斷一樣，AGV的故障診斷必須借助于硬件診斷工具如萬用表等。除此之外，SIASUN的AGV控制系統(tǒng)的軟件也提供了一些故障診斷功能。這些功能包括：Just like in other control systems, to debug an AGV error an maintenance engineer has to use certain diagnosis tools like digital multi-meter. However, besides these commonly used diagnostic tools, the maintenance engineers can

8、 also make use of some other software/hardware tools that are provided by SIASUN. These include: 一個專門用于對低層數(shù)字I/O、模擬量輸入及以太網(wǎng)絡(luò)通訊狀態(tài)進行測試、診斷的工具軟件CE-Tool。它可以在VCU100啟動時由操作員選擇運行。 CE-TOOL: A software tool dedicatedly developed to debug basic digital I/O, analog input and the Ethernet port onboard the AGV AGV運行

9、主控制軟件本身具有較強的故障檢測能力，能夠主動發(fā)現(xiàn)AGV運行中發(fā)生的多種錯誤，并采取一定的保護措施防止事故的發(fā)生。同時，車載軟件具有對多種設(shè)備的狀態(tài)進行動態(tài)觀察的能力，幫助維修人員查明故障位置。 The AGV control software has a lot of error detection functions, which can detect most of the common errors during the working process, and can automatically take necessary safety measures to prevent ac

10、cidents from happening. Meanwhile, the vehicle control software also provides dynamic inspection function for most of the signals onboard the vehicle, to help the maintenance engineers to check the status of the control components 對于運行過程中出現(xiàn)的故障，一般來說AGV會將錯誤狀態(tài)通過無線通訊傳送給控制臺，并由控制臺在屏幕上提示所出現(xiàn)的故障； If an AGV h

11、as some error in the automatic working mode, usually the AGV controller can report the error to the traffic controller, and the traffic controller will display the corresponding error message on the screen so that operators can know what is wrong with the AGV AGV所使用的一些主要部件，如VCU100主控制器、MCU50運動控制器等均具有

12、LED指示燈，可以顯示當(dāng)前的工作狀態(tài)，方便維修人員迅速對故障原因作出判斷 The major AGV control components (such as VCU100 main controller, MCU50 motion controller, etc.) have LED indicators on them to show their current working status, which is very convenient and helpful for maintenance VCU100主控制器的軟件具有自動運行記錄(黑匣子)，在實際運行中，可以通過一定方式將自動運行

13、記錄導(dǎo)出到控制臺計算機或其它計算機機中。必要時，現(xiàn)場維修人員可將導(dǎo)出的黑匣子文件通過互聯(lián)網(wǎng)發(fā)送到SIASUN公司技術(shù)支持部門，SIASUN的技術(shù)人員就可以根據(jù)黑匣子的內(nèi)容分析判斷故障的原因； The software in the VCU100 vehicle controller has a built-in “working process auto-recording function” (the so-called AGV “Black Box”), which can automatically record the last period of the working proces

14、s of the AGV. When necessary, the maintenance engineers can upload the black-box files from the VCU100 controller to the traffic controller or some other computer through wireless communication, and then send these files to SIASUN through Internet. The support engineers of SIASUN will then be able t

15、o know the last working status before the error, and will help the plant maintenance engineers to find out the cause of the error.1.3 常見故障的分類從故障產(chǎn)生的原因來看，AGV的故障可分為機械故障、電氣故障、軟件故障等。本手冊主要分析AGV電氣、軟件等方面的故障，有關(guān)機械方面的故障分析請參見機械維護手冊。All the errors in an AGV fall into the following 3 categories: mechanical error,

16、 electric hardware error and software error. In this manual, only the electric hardware & software error will be addressed. For the trouble shooting of mechanical errors, please refer to AGV maintenance manual-mechanical part在AGV運行中，有以下幾種原因可能導(dǎo)航AGV工作發(fā)生故障：The followings are the possible reasons for AG

17、V errors:n AGV控制系統(tǒng)部件如電機、傳感器等失效或損壞n AGV (such as motors, sensors) Components failuren AGV電纜或接頭等由于接觸不良、線路磨損等造成的故障n In-proper connection in connectors and cable error caused by wearingn 由于工作環(huán)境不正常引起的干擾，如地面有油污雜物造成車體運行打滑，無線通訊受到干擾而引起通訊中斷等n Disturbance caused by environmental factors (such as slippage in th

18、e floor, wireless communication disturbance, etc)在本文中，將按照故障可能發(fā)生的階段，將AGV故障分為以下幾類：In this manual, we classify all the AGV errors into the following types:n AGV啟動故障n Booting errorn AGV手動運行故障n Errors in manual controln AGV在自動運行中的一般故障n Errors in normal workingn AGV在自動合裝過程中的故障n Errors in marriage process2

19、. AGV控制系統(tǒng)回顧2.1 AGV控制系統(tǒng)結(jié)構(gòu)回顧AGV控制系統(tǒng)主要由VCU100，MCU50這兩種控制器作為主要的控制器。結(jié)構(gòu)簡圖見圖2.1。Fig2.1 the structure of control systemVCU100（Vehicle Control Unit）作為AGV的主控制器，外設(shè)有VGA接口，LAN接口，COM串口和PS/2接口，分別滿足顯示屏，網(wǎng)絡(luò)，手控盒，RFID讀碼器以及鍵盤等外設(shè)對接口的需要。在VCU100內(nèi)部還有使用104總線CAN通訊卡PCM3680，以實現(xiàn)中心處理單元與各信號采集單元間的數(shù)據(jù)交換。MCU50（Motion Control Unit）作為下層

20、的運動控制單元，是基于CAN總線通訊方式的分布式運動控制器，具有2路增量式編碼器信號的反饋輸入，通過對伺服驅(qū)動器的調(diào)節(jié)，來達到對AGV車體運動的精確控制。另外MCU50還集成了4路模擬信號輸入、2路模擬信號輸出、16路數(shù)字信號輸入和8路數(shù)字信號輸出，可滿足多種傳感器及外設(shè)信號的輸入輸出需要。GIU10通過CAN通信將車體導(dǎo)航傳感器的采集的導(dǎo)航信號傳送給VCU100進行導(dǎo)航偏差的矯正，GIU10在導(dǎo)航傳感器檢測到導(dǎo)航帶時，會有紅燈亮起。VCU100，MCU50，GIU10通過工業(yè)控制總線CAN總線通信，保證車體內(nèi)部各控制器的協(xié)調(diào)關(guān)系，已完成VCU100對AGV的精準(zhǔn)控制。MCU50通過PWM輸出

21、控制相應(yīng)伺服放大器，以編碼器反饋信號完成對輪系電機的閉環(huán)控制。同時，對應(yīng)I/O輸入輸出完成對車體信號的采集，以及繼電器的輸出控制。2.2 AGV控制系統(tǒng)的自動保護功能MCU50的ALLOK信號保護功能ALL-OK signal protectionMCU50是一個由新松公司自行研制開發(fā)的基于CAN的專用模塊，它集閉環(huán)運動控制、數(shù)字輸入、數(shù)字輸出、模擬輸入等功能于一身，具有很高的性能。The MCU50 is a high performance motion control modular based on CAN, which incorporates the functions of po

22、sition feedback motion control, digital input, digital output, and analogue input.在運動控制方面，MCU50不僅提供了兩個增量式編碼器接口，兩個PWM控制輸出，以及內(nèi)同嵌的PID調(diào)節(jié)器，同時對伺服軸位置超差、伺服軸速度失控、CAN通訊心跳異常等故障提供了保護。當(dāng)發(fā)生以上這些故障時，MCU50會自動將其ALLOK信號置為OFF。由于在AGV的控制系統(tǒng)中，車體主控制器VCU100、各個MCU50模塊的ALLOK信號以及控制系統(tǒng)的ESTOP均串接在一起，最終控制各個電機及抱閘的供電，所以，一但本MCU50的ALLOK信

23、號為OFF，整個車體的動力電源就會失去，從而實現(xiàn)對車體的保護。請參見“MCU50技術(shù)資料”中的相關(guān)介紹。On the motion control aspect, MCU50 not only provides two incremental encoder interfaces, two PWM outputs and two built-in PID regulators, but also provides automatic error protections on position error over limit, abnormal axis velocity and CAN he

24、artbeat lost. In the presence of any of the above errors, the MCU50 modular will set the ALL-OK output to off, to indicate that an error has occurred. Since the ALL-OK signal in each MCU50 and VCU100 modules are connected in a series manner, whenever anyone of the modules in the AGV lost its ALL-OK

25、signal, the output of the ALL-OK chain will be off, which will lead to motors power off and motor brakes locking, to realize vehicle protection for these errors. For the detail of AGV ALL-OK off protection, please refer to MCU50 Technical Description.2.3 在動態(tài)合裝段中停車的處理在AGV動態(tài)合裝過程中，整個AGV系統(tǒng)與車身吊鏈之間具有安全的互鎖

26、信號?；ユi信號可以保證在動態(tài)合裝過程中吊鏈與AGV之間的運行同步，順利完成整個合裝過程。2.3.1合裝段的操作者暫停停車在合裝過程中，如果操作者人為按下Run-stop按鈕，AGV系統(tǒng)軟件將通過控制臺互鎖信號通知吊鏈停止運行，這樣，正在跟蹤的AGV也將同時停止運行，等待吊鏈重新運轉(zhuǎn)。這種停車方式停車是在發(fā)出停車要求后通過停掉吊鏈系統(tǒng)后，AGV作為被動方停車，停車過程緩慢安全，避免急速停車造成不必要的危險和危害。2.3.2合裝段的E-stop停車在合裝過程中，當(dāng)出現(xiàn)緊急以外的情況時，操作者可以通過按下急停按鈕停車，此時AGV的輪系供電立即被切斷。同時，AGV將上報給控制臺急停信號，控制臺通過互鎖

27、信號停止正在運行的吊鏈。這種停車方式快速，可以滿足緊急情況時停車的快速性要求，由于AGV停車后，控制臺的互鎖信號才起作用，吊鏈的停止會有1秒左右的延時，但是提升機頂部的滑臺活動余量可以滿足延時所造成的距離要求，因而這種停車方式可以滿足緊急情況下的AGV合裝停止。2.3.3合裝段的故障停車在合裝過程中，當(dāng)AGV出現(xiàn)故障，如導(dǎo)航丟失，跟蹤信號丟失，通信失敗等等時，AGV將進行停車保護處理，與此同時，控制臺將通過互鎖信號停止正在運行的吊鏈，同時發(fā)出報警，通知維護人員進行處理，以恢復(fù)AGV合裝的正常運行。2.3.4合裝段的合裝超時停車在合裝過程中，如果操作者由于某種情況未能及時的完成合裝操作，AGV即

28、將到達合裝結(jié)束節(jié)點時，AGV會發(fā)出警告通知操作者合裝超時，同時上報控制臺合裝超時信號，并通過互鎖信號停止吊鏈運行，直到合裝完成，操作人員進行復(fù)位操作之后，繼續(xù)運行。3. AGV啟動故障3.1 AGV啟動過程AGV啟動過程如下：The booting process of an AGV is as follows:n VCU100控制器上電n Power on the AGV, the VCU100 start bootingn VCU100啟動Windows CE操作系統(tǒng)n VCU100 starts the Windows CE operation systemn VCU100啟動引導(dǎo)代理程

29、序(BootLoad)n The booting agent program (BootLoad) start runningn 引導(dǎo)代理程序BootLoad運行AGV控制軟件(Carryboy)n BootLoad loads the main control software Carryboy and run it 3.2 啟動引導(dǎo)代理程序介紹啟動引導(dǎo)代理程序是Windows CE系統(tǒng)啟動后運行的第一個程序，它具有三個功能：The Bootload software is the first running software after the Windows CE is started.

30、 It has the following functions:n 自動運行AGV主控制程序Carryboyn Run the main vehicle control software Carryboyn 根據(jù)用戶的選擇，運行AGV輔助診斷程序；n Run AGV auxiliary diagnosis tool CE-tool upon the operators choicen 接受來自AGV文件管理機(可以是控制臺/筆記本電腦等)的文件上傳、下載指令，對VCU100內(nèi)部的軟件進行管理及更新；n Accept the file upload/download command from t

31、he file management computer (may be the traffic controller or any computer/laptop that has Ethernet capacity), and do file upload/download operation當(dāng)啟動引導(dǎo)代理程序啟動之后，如果在10秒之內(nèi)沒有接到操作者的任何輸入，它將自動啟動AGV運行主程序。如果操作者希望對AGV的I/O系統(tǒng)進行低層的診斷、或是希望對VCU100控制器軟件進行更新，應(yīng)在此之前在操作面板上選擇相應(yīng)的功能。After running, the Bootload software

32、will wait for 10 seconds for operator input, and will load and run the vehicle main control software Carryboy if no input is received from the operator. If the maintenance engineer want to perform low level diagnosis on the I/O or the network, they should inputs corresponding command before the vehi

33、cle main software is started.3.3 AGV主控制軟件Carryboy的啟動過程AGV主控制程序的啟動主要是調(diào)入系統(tǒng)運行所需的各種參數(shù)及數(shù)據(jù)。在啟動過程中，AGV操作面板上顯示當(dāng)前的啟動過程。如果在啟動過程中發(fā)現(xiàn)程序停止在某一階段，維修人可以根據(jù)所停止的階段推斷出發(fā)生了何種故障。當(dāng)Carryboy的啟動過程正確完成后，AGV操作面板上即可進入主控制畫面。The booting of the vehicle main control software Carryboy is a process of loading parameters and data. Infor

34、mation about the the current booting status will be displayed on AGV LCD display while the Carroboy is booting. If any error happens during the booting process of the Carryboy software, the display will halt at that step, so maintenance engineer will be able to deduce what kind of error has occurred

35、. After the booting process of the Carryboy software completes successfully, the AGV LCD will display the main menu of the vehicle software.正常情況下，Carryboy的啟動可以正常完成；但如果控制系統(tǒng)的軟件、硬件出現(xiàn)故障，啟動過程就可能中途停止。Normally, the booting of Carryboy can be finished automatically. But if there is some error in the control

36、 system, the booting process may halt.以下具體介紹幾種典型的啟動故障：In the following section, we are going to introduce some of the typical errors in the booting process.3.3.1 參數(shù)文件裝入錯誤參數(shù)裝入錯誤主要是指系統(tǒng)參數(shù)文件、用戶參數(shù)文件、工作地圖文件等參數(shù)文件格式錯誤或文件讀取錯誤。正常情況下，這種文件裝入錯誤的情形在普通使用程中不會出現(xiàn)，因為在AGV提交給用戶使用這前，所有這些參數(shù)文件都已由SIASUN技術(shù)人員調(diào)整完畢。僅在以下兩種情況下可能出

37、現(xiàn)這種故障：Parameter loading errors are errors caused by wrong file format or file missing of parameter/map files. Normally, all the parameter files should have been properly downloaded into the VCU100 by SIASUN field installation engineers before the AGV system is put into work, so this kind of error sh

38、ould not be encountered by operators, except for the following two conditions: n 剛剛由用戶修改了某些系統(tǒng)文件，如用戶自行更改并下載了AGV系統(tǒng)工作地圖文件，如果更改的文件有錯誤，就會出現(xiàn)文件裝入錯誤的情況；n The customer has just modified and downloaded some of the system files in the AGV controller (for example, if the customer created a wrong map file and do

39、wnloaded it to the AGV controller)n VCU100內(nèi)部發(fā)生硬件故障，導(dǎo)致文件系統(tǒng)工作異常。n There is some internal error in the VCU100 controller that caused error in the file system針對前一種情形，只要將正常的系統(tǒng)文件重新下載到VCU100控制器中，就可以將這種故障排除；而對于后一種情況，則必須更換VCU100控制器才能解除。For the first situation, the error condition can be eliminated automatica

40、lly after correct files are downloaded to the VCU100 controller; But for the second situation, the only way to resolve the problem is to replace the wrong VCU100 controller with a good one.3.3.2 CAN設(shè)備初始化失敗在啟動過程中CAN設(shè)備初始化失敗，一般是由于CAN通訊失敗引起的。請關(guān)于具體如何診斷引起該故障的原因，請參見“CAN通訊故障診斷”。The initialization failure of

41、 CAN device is usually caused by CAN communication error. For the detail of how to debug CAN communication error, please refer to “CAN communication error” 3.3.3 AGV車體伺服軸初始化失敗在AGV啟動過程中，VCU100需要向控制車體各運動軸的MCU50運動控制器發(fā)出初始化指令，并等待來自MCU50的應(yīng)答信息。如果VCU100未能接到來MCU50的應(yīng)答，則會報車體伺服軸初始化失敗。During the boot up process

42、of AGV, the VCU100 sends initialization commands to each MCU50 motion controller, and expects echo from the MCU50 units. If due to some error, VCU100 fails to receive echo from the MCU50 units, it will report servo initialization error.正常初始化的MCU50單元，其狀態(tài)指示燈應(yīng)呈現(xiàn)1秒間隔的ON/OFF狀態(tài)，而未成功初始化的MCU50單元則呈現(xiàn)3秒OFF后3秒快

43、速閃爍狀態(tài)。因此可以根據(jù)各MCU50模塊的指示燈狀態(tài)來判斷是哪些單元初始化失敗。If an MCU50 unit is successfully initialized, its ALL-OK indication LED will flash for every 1 second. But if it is not initialized correctly, its ALL-OK indicating LED will first flash 3 seconds very rapidly, then become off for 3 seconds, and then flash 3 se

44、conds rapidly again. Based on the different flash style of the ALL-OK LED, an maintenance engineer is able to know which of the MCU50 units are not correctly initialized .車體伺服軸初始化失敗可能由以下幾種原因造成：These are some of the possible reasons for unsuccessful servo axes initialization:n MCU50模塊的CAN地址設(shè)置錯誤（參見“AG

45、V系統(tǒng)CAN結(jié)點編址表”）及“MCU50說明書”(MCU50 Motion Controller Description)；n The CAN address of the MCU50 unit is not correctly set (please refer to the “CAN address allocation table of the AGV”, and “MCU50 motion controller Description for detail)n MCU50與VCU100的CAN通訊電纜故障，或CAN通訊終端電阻有誤；n The CAN communication cab

46、le, or the CAN terminating resistor has some problem;n MCU50本身故障n MCU50 internal error請注意，車體伺服軸初始化的過程并不涉及對各運動軸的實際動作控制，所以，車體運動軸的硬件故障(如伺服放大器故障)并不會引起本伺服軸初始化失敗。Please note that the initialization of the MCU50 unit doesnt involve any motion generation, so the failure of servo amplifier or motor will not

47、result in servo axis initialization failure. 3.3.4 舵角校正失敗每次AGV啟動時，都要重新校正各個轉(zhuǎn)舵機構(gòu)的舵角，以便各個車輪的初始方向正直，保證運行時車體各種運動的精度。Whenever an AGV is powered on, the VCU100 must re-calibrate the vehicles steers, to make sure all steers will be in straight directions.舵角校正過程必須在驅(qū)動系統(tǒng)上電的情況下進行，這要求所有急停開關(guān)處于松開的狀態(tài)，并且保險杠處于未壓縮狀態(tài)。如

48、果有急停開關(guān)被按下（或保險杠被壓縮），則舵角校正不會開始，直到所有急停開關(guān)松開，保險杠不被壓縮。在舵角校正開始之后，操作者不應(yīng)按下急停開關(guān)，否則舵角校正將暫停，直到所有急停開關(guān)松開。The calibration of steers can only be performed when the steer axes are workable, which requires all the E-Stop buttons (as well as the bumpers) should be released before the steer calibration. Otherwise the s

49、teer calibration will not be performed until all the E-Stop buttons (and bumpers) are released.正常情況下，初始的舵角找零的過程可以自動完成并退出。但當(dāng)控制系統(tǒng)的部件發(fā)生故障時，就可能出現(xiàn)舵角校正不能自動結(jié)束的情形。Normally, the calibration of steers can be automatically performed without operator intervention. However, if some control components has problem

50、, the steer calibration process may not be able to terminate. 以下是可能導(dǎo)致舵角校正不能自動結(jié)束的幾種原因：The followings are some of the reasons that may lead to steer-calibration halt:n 舵軸驅(qū)動控制回路中的某些部件發(fā)生故障，如，PWM故障、編碼器故障、舵電機故障、MCU50運動控制器故障等；相關(guān)的診斷方法，請參見這些部件的具體故障診斷方法；n Steer axis control component error (for example, PWM m

51、otor amplifier, encoder, motor, MCU50 units, etc). For detailed diagnosis method on how to pin-point the errornous component, please refer to the diagnosis method of each of these components. n 舵角校正輔助開關(guān)（或相關(guān)線纜）發(fā)生故障；n Steer switches or cables error4. AGV一般設(shè)備故障的診斷AGV一般故障指的是那些當(dāng)AGV啟動完成后，某些設(shè)備不能正常工作，影響系統(tǒng)的正

52、常運行，需要維護人員進行及時地診斷處理。故障診斷的手段包括：車體軟件界面中的查看功能以及測試功能；VCU100，MCU50以及GIU10上的狀態(tài)指示燈；車體軟件系統(tǒng)提供的輔助工具Tools；電氣維護常用工具，如萬用表等。4.1 車體供電系統(tǒng)故障診斷車體整個電源系統(tǒng)主要由XTB端子（電池端）、XTS端子（伺服電源端）、XTC端子（控制電源端）、XTD端子（控制器及傳感器電源端）以及若干相應(yīng)保險管構(gòu)成?；竟╇娭饕呻姵靥峁?，電池提供48V直流電源，通過直流電源轉(zhuǎn)換器可轉(zhuǎn)換成24V、12V和5V，保證車體各部件的電源需求。The whole power system is mainly compo

53、sed of XTB terminal (battery terminal),XTS terminal (servo power terminal), XTC terminal (control power terminal),XTD terminal (controller and sensor power terminal) and several corresponding fuse pipes. The basic power supply is mainly provided by batteries. The battery provides 48 DC power. By the

54、 transformer of the DC power it could be transformed into 24V, 12V and 5V to ensure the power requirement for the ECV components.具體連接方式如下：電池通過主保險管FU0與XTB端子相連（XTB48V），XTB通過K1開機接觸器與XTC相連（XTC48V），XTC為整個車體控制器及傳感器的基本電源，XTC端子通過直流電源轉(zhuǎn)換器DC-DC1和DC-DC2將直流電壓值轉(zhuǎn)換到XTD端子（XTD24V）和顯示屏電源（12V）和無線電臺電源（5V），XTC受開機鑰匙開關(guān)控制；X

55、TB通過K2伺服接觸器與XTS相連（XTS48V），XTS端子為伺服放大器提供電源，受急停按鈕控制，各個伺服放大器通過相應(yīng)保險管從XTS獲得供電，見圖4.1。The detail connecting method is as follow:Battery connects to XTB terminal（XTB48V）by main protective tube FU0XTB connects XTC by K1 boot-strap contactor. XTC is the basic power for the whole vehicle controller and the sen

56、sor. XTC terminal by the DC power transformer DC-DC1 and DC-DC2 transforms the DC voltage to XTD terminal （XTD24V）,display screen power（12V）and wireless station power（5V）.XTC is controlled by the boot-strap key switch. XTB connects XTS（XTS48V）by K2 servo contactor .XTS terminal provide the power for

57、 servo amplifier to avoid E-stop button control. The amplifiers could get power from XTS by relative protective tube, Fig4.1.更多有關(guān)電源系統(tǒng)連接方式的細節(jié)，請參看電氣原理圖電源系統(tǒng)部分。See more details about the power system; please refer to the power system section of the electrical drawings.圖4.1 CAV電源系統(tǒng)結(jié)構(gòu)圖通常電源系統(tǒng)故障主要由于相應(yīng)的保險管或電源轉(zhuǎn)換器損壞導(dǎo)致，各個保險損壞后的現(xiàn)象如下：As for more details about power system connecting methods, please refer to electric principle drawing power supply system sectionUsually, the power system fault is mainly caused by relative protective tube or power transformer damage, t