Eps DC0 PDF

浙江中力机械有限公司
EP EQUIPMENT Co.,Ltd
EPS Steering Controller Error Code And Processing
WWW.EP-CARE.COM
Instructions of error code inquire
For instance：Error Code 0 2 A 7 9 或 Alarm 79 on node 2

Number represents various controller:
01：Display Con. Of Reach Truck
02：Traction Con.
03：Vice Con.
05：Hydraulic Con.
06：Steering Con.
16：Display Con.
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DISPLAY MDI
flash 1 flash 2 Alarm Fault reason Processing
ALARM ALARM
Main uC and Slave uC communicate via a

local serial interface. This alarm occurs
6 39 6 4 SERIAL ERROR #1 when the slave uC does not receive the Replace the controller
communication from the main uC
through this serial interface
1) Clear EEPROM , Relearn the Steering

It occurs if a test to write and read one
13 8 1 8 EEPROM KO Calibration
location in EEPROM fails
2) Replace the controller
This alarm occurs in the rest state if the

output of the voltage amplifier of the
16 15 2 7 LOGIC FAILURE #4 Replace the controller
phase Vw-Vv have a drift larger than
±0.25 V.
This alarm occurs in the rest state if the
output of the voltage amplifier of the
17 14 2 6 LOGIC FAILURE #3 Replace the controller
phase Vu-Vw have a drift larger than
±0.25 V.
This alarm occurs when the real voltage

18 13 2 5 LOGIC FAILURE #2 between phases W and V of the motor is Replace the controller
different from the desired
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DISPLAY MDI
ALARM ALARM
This alarm occurs when the real voltage

19 12 2 4 LOGIC FAILURE #1 between phases W and U of the motor is Replace the controller
different from the desired
In the rest state if the outputs of the

motor voltage amplifiers between phase
32 9 2 1 VMN NOT OK Replace the controller
U and W is not in the window from 2.2 to
2.8 Vdc
Enter the traction controller to check fault

48 20 3 4 MAIN CONT. OPEN Main Contactor open
detail
This alarm is due to the outputs of the

current amplifiers exceed the 2.2 to 2.8
53 5 1 5 STBY I HIGH V, or the outputs of the current Replace the controller
amplifiers at rest have a drift larger than
±0.15 V.
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DISPLAY MDI
ALARM ALARM
1) Allow truck to sit a few hours at room/ambient

temperature and clean the dust on the surface to
re-check. If ok, Duty cycle or operating
This alarm occurs when the environment are too severe for standard unit.
61 10 2 2 HIGH TEMPERATURE temperature of the base plate is 2) Check the heat dissipation，check if fan works
higher than 78 °C. normally and the heat-conduction glue is not dry;
3) Check if the brake works normally or not;
4) Check if there is somewhere stuck;
5) Replace the controller;
1) Allow truck to sit a few hours at room/ambient

temperature and clean the dust on the surface to
the temperature of the motor re-check. If ok, Duty cycle or operating
65 48 7 5 MOTOR TEMPERAT. winding overtakes the MOTOR environment are too severe for standard unit.
OVERTEMP setting. 2) Check if the brake works normally or not;
3) Check if there is somewhere stuck;
1）Check if the scale of motor and controller

70 1 1 1 HIGH CURRENT The current of motor is too big are matching or not;
2）Replace the controller;
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DISPLAY MDI
ALARM ALARM
Check the power fuse is OK. Check the battery

This alarm occurs when the current in positive arrives to the controller. Check the
71 4 1 4 POWER FAILURE #3 the phase V of the motor is zero and the continuity of the wire in the phase V of the
motor is commanded for moving. motor. Otherwise it is necessary to replace the
controller.

72 3 1 3 POWER FAILURE #2 the phase U of the motor is zero and the continuity of the wire in the phase U of the
motor is commanded for moving motor. Otherwise it is necessary to replace the
controller.

73 2 1 2 POWER FAILURE #1 the phase W of the motor is zero and the continuity of the wire in the phase W of the
motor is commanded for moving. motor. Otherwise it is necessary to replace the
controller.
The A/B phases of encoder in installed in 1) Swap Encode Channel’s Wires

83 26 4 2 BAD ENCODER SIGN
wrong order 2) Replace the controller
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DISPLAY MDI
ALARM ALARM
1) Check the status of twin potentiometer and

This alarm is used to catch a
the wire between it and controller;
84 45 7 2 STEER SENSOR KO discontinuity in the voltages of the
2) Replacce twin potentiometer;
command potentiometer
This is just a warning to inform that the steering controller is limiting the angle in the
85 0 4 4 STEER HAZARD
steering direction. No speed reduction occurs on the traction
It occurs when the voltage on CNA#4

1) Check Wire between Main Controller (CNB
(NK1: Lower Potential Terminal of the
99 53 8 2 INPUT ERROR #1 #3) and EPS Controller (CNA #4) ;
Safety Contacts ) is higher than 12 V
before to turn the safety contacts closed.
1) Check the wires between controllers;

This alarm occurs only when the setting
If it is OK, try to disconnect one by one the
CAN BUS is PRESENT. Then the eps-ac0
module connected to the CAN Bus and check if
must receive the event messages from
215 54 8 3 CAN BUS KO SL. this alarm disappears.
the traction controller. If these messages
2) When you are quite sure the problem is in
lack more than about 1 sec, this alarm
the present module, it is necessary to replace
occurs
the controller.
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DISPLAY MDI
ALARM ALARM
It occurs when the encoder counting of 1) Operate the “Clear EPPROM” to clear
216 52 8 1 MICRO SLAVE #8 the main uC is not matched with the controller back to default setting;
encoder counting of the slave uC 2) Replace the controller
The main uC sends an analog signal
towards the slave uC to reset the slave
218 44 7 8 CLOCK PAL NOT OK Replace the controller
uC on demand. This alarm arise when it
fails.
This alarm occurs if the frequency and
219 50 7 7 STEPPER MOT MISM the amplitude of the voltages from the Replace the controller
stepper motor lines are mismatched
1) Check if EPS Motor is properly tightened, If

loosen or installed incorrectly, fix it or replace
it;
2) Check if the gear case of steering motor is
This alarm occurs if the current in the
stuck.
220 49 7 6 MOTOR LOCKED steering motor stays close to the
3) Check if there is somewhere stuck inside
maximum current longer than 1 sec
driving system:
a. Cut off the electric power and sling the
truck or hang the driving wheel in the air by
some equipment ;
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DISPLAY MDI
ALARM ALARM
b. Check the big rotation gear , make sure it

is not loose, otherwise tighten the bolts;
c. If the gear is ok, Rotate the driving wheel
by hands, normally it should be very easy to
rotate the wheel manually; If it is hard to
rotate, it means the bearing is broken, we
need to replace it;
5) Replace the controller
The slave uC detects the stator voltage

phasor rotates in the opposite direction
221 40 6 5 MICRO SLAVE #4 respect to the sign of the stepper Replace the controller
motor speed (open loop) or commanded
position (close loop)
1）Check if the feedback pot. Or endoer is

loosen, fix it;
No change in its value of pot. Or encoder
222 47 7 4 FB POT LOCKED 2）Check if thereis dust or sundries in the
with toggle switch
steering bearings,or serious abrasion in gear
case, result in the stuck of steering ;
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DISPLAY MDI
ALARM ALARM
This alarm is used to catch a

223 46 7 3 JERKING FB discontinuity in the voltages of the Replace the pot. Or encoder
feedback potentiometer
225 43 6 8 CURRENT GAIN / Replace the controller
226 42 6 7 NO SYNC Watch dog Replace the controller

Communocation error in main and vice
227 41 6 6 SLAVE COM. ERROR Replace the controller
program
1) Check Wires between EPS Controller (CNA

#3, CNA #12, CNA #4) and Proximity Switch ; If
wire is not ok, reconnect the wire ;
2) Check Wires between EPS Controller (CNB
The feedback position value from
228 38 6 3 POSITION ERROR #4, CNB #8, CNB #7, , CNA #11) and ENCODER;
different parts are very diferent
If wire is not ok, reconnect the wire ;
3) Replace toggole switch ;
4) If not solved, Replace the EPS encoder;
5) If not solved, Replace the controller;
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DISPLAY MDI
ALARM ALARM
This warning occurs only if CAN BUS is PRESENT. At key-on the eps-ac0 asks to the traction
controller to send a list of parameters via CAN Bus. From the request until the parameters
237 0 4 5 WAITING DATA
are correctly relieved, this warning occurs. The steer is not activated yet, and the safety
relays remain open when this warning is present.
1) Check the status of toggle switch, if it is

broken;
2) Check the wire between toggle switch and
Toggle switch is not installed correctly or
238 0 5 1 EPS NOT ALIGNED controller;
loosen
3) Check if the position of toggle switch is right,
and the distance between toggle switch and
bearing is too big or too small;
239 0 4 8 WAITING FOR TRAC No sign from traction controller Check the fault detail in the traction controller
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DISPLAY MDI
ALARM ALARM
1) Check if the encoder is tightened properly;

2) Check if there is water or dust indise the
encoder, clean it;
241 25 4 1 ENCODER ERROR / 3) Check the wires between encoder and
controller, reconnect the wires;
4) Replace the Encoder;
5) Replace the Controller;
This alarm occurs when the mean

1) Check Wire between EPS Controller (CNA
voltage on the Quadrature line of the
#9, CNA #8, CNA #10, CNA #11) and Steer Pot;
242 7 1 7 Q LINE SENSOR KO stepper motor is not null: the voltage
2) Replace the steer Pot;
on every stepper motor line is a sine
wave with null mean voltage.
This alarm occurs when the mean
1) Check #27 Wire between EPS Controller
voltage on the Direct line of the stepper
(CNA #9) and Steer Pot.
243 6 1 6 D LINE SENSOR KO motoris not null: the voltage on every
2) Replace the steer Pot;
stepper motor line is a sine wave with
null mean voltage.
244 27 4 3 GAIN EEPROM KO / Replace the controller
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DISPLAY MDI
ALARM ALARM
This alarm occurs when the acquiring the

motor resistance or when adjusting the
245 11 2 3 DATA ACQUISITION parameters to compensate for the gain Restart the truck
of the current amplifiers (maximum
current factory adjusted)
It occurs when the information on the
status bus between the main uC and the
246 24 3 8 MICRO SLAVE KO slave uC is frozen to the 0xFF value (the Replace the controller
slave uC does not update the status bus
configuration).
1) Check the wires between controllers;

If it is OK, try to disconnect one by one the
It occurs if the controller does not module connected to the CAN Bus and check if
247 28 4 7 CAN BUS KO receive any message from the CAN this alarm disappears.
Bus line. 2) When you are quite sure the problem is in
the present module, it is necessary to replace
the controller.
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DISPLAY MDI
ALARM ALARM
Check the connections of the potentiometer.

This alarm occurs for a fault on the
248 22 3 6 S.P OUT OF RANGE This alarm occurs when one connection of the
command potentiometer
command potentiometer is broken.
Check the connections of the feedback

This alarm occurs for a fault on the potentiometer. This alarm occurs when one
249 23 3 7 F.B OUT OF RANGE
feedback potentiometer connection of the feedback potentiometer is
broken
This alarm occurs if the main uC is

detecting a direction of the steering
250 21 3 5 MICRO SLAVE error or no steering limitation not Replace the controller
matched with the one that the slave uC
is detecting.
This alarm occurs if the slave uC detects

251 19 3 3 KM OPEN the safety contact, of the main uC, open Replace the controller
when expected being closed.
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DISPLAY MDI
ALARM ALARM
This alarm occurs if the main uC detects

252 18 3 2 KS OPEN the safety contact, of the slave uC, open Replace the controller
when expected being closed.
This alarm occurs at key on if the slave 1) Check Wire between Main Controller and
253 17 3 1 KM CLOSED uC detects the safety contact, of the EPS Controller(#CNA5) ;
main uC, closed prior to be commanded. 2) Replace the controller
This alarm occurs if the main uC detects 1) Check Wire between Main Controller and
254 16 2 8 KS CLOSED the safety contact, of the slave uC, EPS Controller(#CNA4) ;
closed prior to be commanded. 2) Replace the controller
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浙江中力机械有限公司

EPS Steering Controller Error Code And Processing

Instructions of error code inquire

For instance：Error Code 0 2 A 7 9 或 Alarm 79 on node 2

Main uC and Slave uC communicate via a

1) Clear EEPROM , Relearn the Steering

This alarm occurs in the rest state if the

This alarm occurs when the real voltage

This alarm occurs when the real voltage

In the rest state if the outputs of the

Enter the traction controller to check fault

This alarm is due to the outputs of the

1) Allow truck to sit a few hours at room/ambient

1) Allow truck to sit a few hours at room/ambient

1）Check if the scale of motor and controller

Check the power fuse is OK. Check the battery

Check the power fuse is OK. Check the battery

Check the power fuse is OK. Check the battery

The A/B phases of encoder in installed in 1) Swap Encode Channel’s Wires

1) Check the status of twin potentiometer and

It occurs when the voltage on CNA#4

1) Check the wires between controllers;

1) Check if EPS Motor is properly tightened, If

b. Check the big rotation gear , make sure it

The slave uC detects the stator voltage

1）Check if the feedback pot. Or endoer is

This alarm is used to catch a

225 43 6 8 CURRENT GAIN / Replace the controller

226 42 6 7 NO SYNC Watch dog Replace the controller

1) Check Wires between EPS Controller (CNA

1) Check the status of toggle switch, if it is

1) Check if the encoder is tightened properly;

This alarm occurs when the mean

This alarm occurs when the acquiring the

1) Check the wires between controllers;

Check the connections of the potentiometer.

Check the connections of the feedback

This alarm occurs if the main uC is

This alarm occurs if the slave uC detects

This alarm occurs if the main uC detects

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