电动汽车技术通讯协议

1、高速CAN网络ID列表ID发送单元发送周期（ms）描述数据长度位速率0x300VCU_MSG11064111000x301VCU_MSG2506422200x278VCU_MSG31064111000x330MCU_MSG1506422200x331MCU_MSG2506422200x332MCU_MSG3100调试用故障信息16422200x334MCU_MSG4100调试用故障信息26422200x390DC/DC_MSG100641110IDTran smitter ECUDLCPeriod(ms)TypeDescriptio n0x300VCU810PVCU_MSG1W11 HS CA

2、N Message ListSignal NameDescriptio nByteBitPosLen gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUMCU_C on trol_M ode电机控制模式0.120x0 :无效0x1 :转矩模式0x2 :转速模式0x3 :无效0x0TRRDC/DC_E nableDC/DC使能310x0 :关闭0x1 :打开0x0TRBMS_HV_E nableBMS高压上电 使能0410x0 :下电0x1 :上电0x0TRVehicle_Status车辆状态5.620x0 :

3、系统自检0x1 :系统预充电0x2 :可行驶0x3 :禁止0x3TRRRBrake_Status制动状态710x0 :未踩制动0x1 :踩制动0x0TRRMotor_Torque_MSB电机转矩咼子 节18.158DATA*1-3000( N.m)0x0TRMotor_Torque_LS电机转矩低字 节216.238正值：电机正转 负值：电机反转Signal NameDescriptio nByteBitPosLen gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUMotor_MAXIn put Curre

4、nt电机取大输入 电流限制324.318DATA*1(A)0x0TRRMotor_MAX_Ge n erate Curre nt电机发电电流限制432.398DATA*1( A0x0TRRMotor_Speed_MSB电机转速高字 节540.478DATA*1-32000(PRM正值：电机正转 负值：电机反转0x0TRMotor_Speed_LSB电机转速低字 节648.558TR循环计数756.6380255IDTran smitter ECUDLCPeriod(ms)50TypePDescriptio nVCU MSG2W11 HS CAN Message ListSignal NameD

5、escriptio nByteBitPosLen gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUVCU_Fault_Sta tusVCU故障状态0.120x00x10x20x3正常一级故障 二级故障 三级故障0x0TRDiag no sis_Mod e诊断状态0210x00x1关闭 打开0x0TRRGear_Positi on档位状态3.530x00x10x20x30x4无效PNDR0x0TRRRRRAccelerate_Pe dal_I nvalid油门踏板有效 位8.920x00x10x2有效无效故障

6、0x0TRRRVCU0x3018ESC DragTorqueResp onse FlagESC降扭请求 响应标志位11010x0 :可以响应0x1 :不能响应0x0TRRBrake_Se nsor_In valid制动踏板行程 传感器失效1110x0 : Normal0x1 : Fault0x0TrRSignal NameDescriptio nByteBitPosLen gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUPump_PressureSen sor_ In valid真空助力压力 传感器失效11

7、210x0 : Normal0x1 : Fault0x0TRRBrake_SW_I nva lid制动踏板开关失效1410x0 : Normal0x1 : Fault0x0TRRHardware FaultVCU硬件故障21710x0 : Normal0x1 : Fault0x0TRRCommuni cati onFaultVCU通讯故障1810x0 : Normal0x1 : Fault0x0TRRCrash_SIG_Fau lt碰撞信号故障1910x0 : Normal0x1 : Fault0x0TRRBrake_Fluid_L evel制动液位状态2010x0 : Normal0x1 :

8、制动液位报警0x0TRRRAccelerate_SIG_Value油门踏板开度324.318DATA*0.392(%)0x0TRRRBrake_SIG_Value制动踏板开度432.398DATA*0.392(%)0x0TR1RPTC_StatusPTC犬态54010x0 :关闭0x1 :打开0x0THVAC_Status空调状态4110x0 :关闭0x1 :打开0x0TSignal NameDescriptio nByteBitPosLen gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCURadiator

9、_Fa n_Status散热风扇状态4210x0 :关闭0x1 :打开0x0TRPump_Status电机冷却水泵状态54310x0 :关闭0x1 :打开0x0TRAuxiliary_Cha rge_Relay_Sta tus充电辅助继电器状态4410x0 :断开0x1 :闭合0x0TRCrash_SIG车辆碰撞信号4510x0 :正常0x1 :碰撞0x0TRRActive ECOStatus主动ECO犬态4810x0 :关闭0x1 :打开0x0TRRPassive ECOStatus被动ECO犬态4910x0 :关闭0x1 :打开0x0TRRCruise Status定速巡航状态65010x

10、0 :关闭0x1 :打开0x0TRL_Door Status左门开关状态5110x0 : Open0x1 : Close0x0TRDriver_Seat_B elt_Status驾驶员安全带状态5210x0 :未系0x1 :系0x0TR循环计数756.6380255IDTran smitter ECUDLCPeriod(ms)TypeDescriptio n0x278VCU810PVCU MSG3W11 HS CAN Message ListSignal NameDescriptio nByteBitPosLen gth(bit)Con vers ionIn itialValueNodelis

11、tVCUABSSRSEPSEPBBMSSASESPMCUBrake_Status刹车状态437.3820x0 :未处于制动状 态0x1 :处于制动状态0x2 :保留0x3 :故障0x0TRRIDTran smitter ECUDLCPeriod(ms)TypeDescriptio n0x330MCU850PMCU_MSG1W11 HS CAN Message ListSignal NameDescriptio nByteBitPosLen gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUMotor Con

12、trolMode电机控制模式00.120x00x10x20x3无效转矩模式 转速模式 无效0x0RTMotor Con trolStatus电机控制器状 态210x00x1停止运行0x0RRTMCU RPM SIGValidMCU转速信号有效性310x00x1无效有效0x0RRTMotor TorqueOutput MSB电机实际输出转矩高字节18.158DATA*1-3000（ N.m）正值：扭矩正 负值：扭矩负0x0RRRRTMotor Torque Output LSB电机实际转矩 输出低字节216.238Motor ActualRPM_MSB电机实际转速 高字节324.318DATA*

13、1-32000(PRM正值：电机正转 负值：电机反转0x0RRRRTMotor ActualRPM_LSB电机实际转速 低字节432.398MotorTemperature电机温度540.478DATA*1-50( C)0x0RTMCUTemperature电机控制器温 度648.558DATA*1-50( C)0x0RTSignal NameDescriptio nByteBitPosLen gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCU循环计数756.6380255IDTran smitter ECU

14、DLCPeriod(ms)TypeDescriptio n0x331MCU850PMCU MSG2W11 HS CAN Message ListSignal NameDescriptio nByteBitPosLen gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUMCU HV_MSBMCU母线电压 高字节00.78DATA*1(V)0x0RRTMCU HV_LSBMCU母线电压 低字节18.158MCU HVCurre nt MSBMCU母线电流 高字节216.238DATA*1-1000 (A)正值：工

15、作电流0x0RRTMCU HVCurre nt_LSBMCU母线电流 低字节324.318负值：回馈电流Motor FaultStatus电机故障状态432.3430x00x10x20x30x4正常一级故障 二级故障 三级级故障 四级故障0x0RTMCU SelfDiag no sticStatusMCU检状态35.3620x00x10x20x3无效自检中 自检成功 自检失败0x0RTMCU Diag nostic StatusMCU诊断状态3710x00x1关闭 打开0x0RTSignal NameDescriptio nByteBitPosLen gth(bit)Con vers ionI

16、n itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUMCU Max TorqueOutput MSB电机当前可输 出取大扭矩咼 字节540.478DATA*1 (N.m)0x0RRRTMCU Max TorqueOutput LSB电机当前可输 出取大扭矩低 字节648.558循环计数756.6380255IDTran smitter ECUDLCPeriod(ms)TypeDescriptio n0x332MCU850PMCU_MSG3W11 HS CAN Message ListSignal NameDescriptio nByteBitPosLe

17、n gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUHV_Un derVOL母线欠压010x0 :正常0x1 :故障0x0RTHV_OverVOL母线过压110x0 :正常0x1 :故障LV_Un derVOL低压欠压0210x0 :正常0x1 :故障0x0RTLV_OverVOL低压过压310x0 :正常0x1 :故障HV_Curre nt_Fa ult母线电流故障410x0 :正常0x1 :故障0x0TPhase_OverCur rent相电流过流510x0 :正常0x1 :故障0x0TD/Q_Axie

18、_Over Curre ntD/Q轴电流超 限610x0 :正常0x1 :故障0x0TT_Phase_GND_S hort三相接地短路710x0 :正常0x1 :故障0x0TU_Phase_Outpu t FaultU相输出故障1810x0 :正常0x1 :故障0x0TV_Phase_Outpu t FaultV相输出故障910x0 :正常0x1 :故障0x0TSignal NameDescriptio nByteBitPosLen gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUV_Phase_Outpu

19、 t_FaultW相输出故障1010x0 :正常0x1 :故障0x0TIGBT_FaultIGBT故障1110x0 :正常0x1 :故障0x0TIGBT_U_Phase_OverTempIGBT U相过热停机11210x0 :正常0x1 :故障0x0TMotor_OverTemP电机过热停机1310x0 :正常0x1 :故障0x0TMCU_Drivi ngBo ard OverTemp驱动板过热停 机1410x0 :正常0x1 :故障0x0TRadiator_Over Temp散热器过热停 机1510x0 :正常0x1 :故障0x0TMotorLocked Rotor电机堵转1610x0 :正

20、常0x1 :故障0x0TMotorOverSpeed电机过速1710x0 :正常0x1 :故障0x0TBackEMF_Fault反电势错误21810x0 :正常0x1 :故障0x0TCommuni cati onFault通讯错误1910x0 :正常0x1 :故障0x0TResolver_DATA Readi ng Fault旋变读故障2010x0 :正常0x1 :故障0x0TResolver_DATALost旋变信号丢失2110x0 :正常0x1 :故障0x0TSignal NameDescriptio nByteBitPosLen gth(bit)Con vers ionIn itialV

21、alueNodelistVCUABSSRSEPSEPBBMSSASESPMCUHVIL_Fault高压互锁故障22210x00x1正常故障0x0TEEPROM_R/W_Fa ultEEPRO读写异常2310x00x1正常故障0x0THV_Un derVOLI n d母线欠压报警32410x00x1正常故障0x0THV_OverVOLI nd母线过压报警2510x00x1正常故障0x0TMotor_OverTem pI nd电机过热报警2610x00x1正常故障0x0TMCUDrivi ngBoa rdOverTempI nd驱动板过热报警2710x00x1正常 故障0x0TIGBT_OverT

22、empIndIGBT过热报警2810x00x1正常故障0x0TMotorOverLoadInd电机过载报警2910x00x1正常 故障0x0TMotorOverTorq ueI nd电机过转矩报警2010x00x1正常故障0x0TVCUn structi on Abno rmalVCU指令异常3110x00x1正常 故障0x0T循环计数器756.6380255IDTran smitter ECUDLCPeriod(ms)TypeDescriptio n0x334MCU850PMCU_MSG4W11 HS CAN Message ListSignal NameDescriptio nByteBi

23、tPosLen gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUU_PhaseOverTe mpU相过温010x0 :正常0x1 :故障0x0RTV_PhaseOverTe mpV相过温110x0 :正常0x1 :故障W_PhaseOverTe mpW相过温0210x0 :正常0x1 :故障0x0RTMotorOverTemp电机过温310x0 :正常0x1 :故障Drivi ngBoardO verTemp板间温度过高410x0 :正常0x1 :故障0x0TMCUOverTemp控制器温度过 高510x0

24、 :正常0x1 :故障0x0TU_PhaseOverCu rrentU相过流610x0 :正常0x1 :故障0x0TV_PhaseOverCu rrentV相过流710x0 :正常0x1 :故障0x0TW_PhaseOverCu rrentW相过流1810x0 :正常0x1 :故障0x0TUPhasePOSAxisCurre nt FaultU相电流正半 轴故障910x0 :正常0x1 :故障0x0TSignal NameDescriptio nByteBitPosLen gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSA

25、SESPMCUUPhaseNEGAxisCurre nt_FaultU相电流负半 轴故障1010x0 :正常0x1 :故障0x0TVPhasePOSAxisCurre nt_FaultV相电流正半 轴故障1110x0 :正常0x1 :故障0x0TVPhaseNEGAxisCurre nt_FaultV相电流负半 轴故障11210x0 :正常0x1 :故障0x0TWPhasePOSAxis Curre nt FaultW相电流正半 轴故障1310x0 :正常0x1 :故障0x0TWPhaseNEGAxis Curre nt FaultW相电流负半 轴故障1410x0 :正常0x1 :故障0x0T

26、HV_VOL_Fault母线电压故障1510x0 :正常0x1 :故障0x0THV_OverVOL母线过压1610x0 :正常0x1 :故障0x0THV_Un derVOL母线欠压1710x0 :正常0x1 :故障0x0TIGBT1_FaultIGBT1故障21810x0 :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 NameDescriptio nByteBitPosLen gth(bit)Con vers ionIn itialValueNodelistVCUABSSRSEPSEPBBMSSASESPMCUIGBT5_FaultIGBT5故障22210x0 :正常0x1 :故障0x0TIGBT6_FaultIGBT6故障2310x0 :正常0x1 :故障0x0TIGBT_FaultIGBT故障2410x0 :正常0