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Summary of Contents for DCE EPAS700
- Page 1 EPAS700 Autonomous System User Guide Issue 1.0...
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Page 2: Table Of Contents
Contents Technical Support Operating Parameters Electrical Connections and Installation Guide Pre-Installation Notes Welding Electrical Connections EPAS700 Autonomous Electrical Connections and Set Up CANBus System CAN IDs and Structure CAN Message #1 4.2.1 Fault Codes CAN Message #2 CAN Message #3... -
Page 3: Technical Support
EPAS700 Autonomous System User Guide 1 Technical Support For technical support, please contact: sales@dcemotorsport.com (Europe) or salesusa@dcemotorsport.com (Americas) The table below lists the ways to contact DC Electronics: Contact Method Europe Americas Company: DC Electronics DCE Inc. Website: www.dcemotorsport.com www.dcemotorsport.com Email: sales@dcemotorsport.com... -
Page 4: Operating Parameters
EPAS700 Autonomous System User Guide 2 Operating Parameters Below are the operating parameters of the EPAS700 Autonomous ECU. Parameter Value Notes Voltage Max 16V Over voltage will cause the ECU to shut down and could cause permanent damage. Min 8V Under voltage will cease control of the motor. -
Page 5: Electrical Connections And Installation Guide
UNDER NO CIRCUMSTANCES SHOULD ANYTHING BE WELDED TO THE CASING OF THE MOTOR ASSEMBLY. 3.3 Electrical Connections The electronic power assisted steering system should be connected using the two EPAS700 Autonomous wiring harnesses. FAILURE TO CORRECTLY CONNECT VEHICLE POWER SUPPLY WILL DAMAGE THE CONTROL UNIT. Issue 1.0... -
Page 6: Epas700 Autonomous Electrical Connections And Set Up
EPAS700 Autonomous System User Guide 3.4 EPAS700 Autonomous Harnesses Electrical Connections and Set Up Connect the green Torque and Angle connectors as shown. Note the angle sensor is installed on the MGU input shaft to detect the steering angle position. The angle sensor is not IP rated so the MGU should be mounted in a dry area. - Page 7 EPAS700 Autonomous System User Guide Signal Connector Pin Definitions. Pin Number Description Wire Color Not Used Torque & Angle Sensor Ground Green Torque Sensor +5V Orange Not Used Torque Sensor Signal Auxillary Black Fault Light Brown Not Used Angle Sensor Signal Main...
- Page 8 EPAS700 Autonomous System User Guide Within the two harnesses are 5 unterminated wires, these are from left to right: CAN_H (Blue_Yellow), CAN_L (Brown_Yellow), 12V ignition Signal (White), Power Supply Positive (Red), and Power Supply Negative (Black). Connect the Power Supply Positive red wire with its 40A in-line fuse to +12V battery positive.
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Page 9: Canbus System
EPAS700 Autonomous System User Guide 4 CANBus System 4.1 CAN IDs and Structure Control of the Autonomous ECU and EPAS can be performed with a suitable CANBus controller. The following CAN IDs are used in this system: 4.2 CAN Message #1 Provides feedback from EPAS ECU which includes Torque, Angle, Mode etc. -
Page 10: Fault Codes
EPAS700 Autonomous System User Guide 4.2.1 Fault Codes Fault codes are communicated by byte D2 (Fault Code 1) and byte D6 (Fault Code 2) of CAN ID 0x401. If there is a single fault, fault code 1 will indicate it first, with a second fault being displayed by fault code 2. -
Page 11: Can Message #2
EPAS700 Autonomous System User Guide 4.3 CAN Message #2 Provides feedback from the EPAS ECU, only transmitted when receiving autonomous steering commands on 0x469. Message ID: 0x402 (fixed) Description: EPAS_Feedback_2 Update rate: 50ms Message Signal Value Byte 0x00 = Mechanical mode... -
Page 12: Can Message #3
EPAS700 Autonomous System User Guide 4.4 CAN Message #3 This message is received by the EPAS ECU. It is used to send configuration and control commands to the EPAS ECU. Message ID: 0x469 (fixed) Description: EPAS_Config_and_Control_Commands Update rate: 50ms Message... -
Page 13: Calibration Of Epas700 Autonomous Mgu
EPAS700 Autonomous System User Guide 5 Calibration of EPAS700 Autonomous MGU The CAN interface is for operation of the EPAS, and can also be used for calibration commands of its sensors and change the Baud rate of the CANBus connection. -
Page 14: Torque Sensor Calibration
EPAS700 Autonomous System User Guide To reset this, return the steering to a range of 00 7B to 07 85 power cycle the ECU off for 10 seconds. 5.2 Torque Sensor Calibration The torque sensor can be calibrated via CAN. The torque sensor measurement is displayed on the second bit of CAN ID 401h. -
Page 15: Can Baud Rate
EPAS700 Autonomous System User Guide 5.3 CAN Baud Rate The EPAS CAN supports 3 baud rates which are 500kbps, 250kbps, and 125kbps, with the default baud rate being 500kbps. To change the baud rate, send a single extended frame CAN message to CAN ID 101A123Ch, the contents of the message depends on the desired baud rate as below. -
Page 16: Autonomous Operation Commands
EPAS700 Autonomous System User Guide 6 Autonomous Operation Commands 6.1 Sending Angle and Speed Commands With the zero-angle position set, the torque sensor operating correctly and no other errors from the EPAS it is now possible to send autonomous steering commands. - Page 17 EPAS700 Autonomous System User Guide Full message = 0x 20 00 00 05 04 00 C8 E9 Example 2 (Negative Angle) To control the EPAS in autonomous mode and steer it to an angle of -252 degrees at a speed of 996r/m.
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Page 18: Manual Operation Mode
EPAS700 Autonomous System User Guide Full message = 0x 20 00 00 03 04 00 A6 81 7 Manual Operation Mode 7.1 Notes On Manual Operation The system will enter manual operation mode depending on the following conditions: • The system does not receive a valid autonomous CAN signal every 50ms. It will revert to manual mode until a valid CAN signal is received •... -
Page 19: Troubleshooting
EPAS700 Autonomous System User Guide 8 Troubleshooting I can’t connect to the EPAS700 Autonomous ECU or read/write its Problem parameters. Cause The EPAS700 Autonomous ECU is not powered up. Action Ensure there is power applied to main power connector and the Ignition (pin 10 white wire) on the signal connector. -
Page 20: Error Messages
EPAS700 Autonomous System User Guide 9 Error Messages The autonomous EPAS ECU will report failure modes and faults over the CAN interface. 9.1 Fault Modes The byte D0 of CAN ID 0x401 is used to indicate the current “Working Mode”. When there is a fault condition with the ECU some or all of the functions could be prohibited. -
Page 21: Fault Codes
EPAS700 Autonomous System User Guide 9.2 Fault Codes Fault codes are communicated by byte D2 (Fault Code 1) and byte D6 (Fault Code 2) of CAN ID 0x401. If there is a single fault, fault code 1 will indicate it first, with a second fault being displayed by fault code 2. -
Page 22: Fault Light
EPAS700 Autonomous System User Guide 10 Fault Light The Red LED mounted within the wiring harness is not used for autonomous ECUs as all fault modes are communicated over the CAN interface. 11 Dimensions 11.1 MGU Dimensions (mm) Issue 1.0... - Page 23 EPAS700 Autonomous System User Guide Issue 1.0 Page 23 of 24...
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Page 24: Ecu Dimensions
EPAS700 Autonomous System User Guide 11.2 ECU Dimensions (mm) Issue 1.0 Page 24 of 24...
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