| 1. Definition | 2. Functional Requirements | 3. Syntax | 4. Semantics |
1 Definition
Motor States define the set of operational and fault-related conditions that a Motor (acting as a ProcessorInstance) may report to the Motion Actuation Subsystem (MAS).
They describe the real, physical and control‑level behavior of traction and drive motors used for propulsion (and, where applicable, regenerative braking).
These states enable MAS to interpret torque delivery, detect degradation or faults, coordinate traction control, and enforce safety‑critical reactions such as derating or emergency stop.
Motor States shall enable the CAV’s Motion Actuation Subsystem (MAS) to:
- Interpret the motor’s current operational condition, including inactive, transient, active, and limited‑output behavior.
- Distinguish between commanded inactivity (Idle, Offline) and active torque production (Active, Starting, Stopping).
- Identify traction loss conditions to support stability, ESC, and traction control coordination.
- Monitor derating conditions due to thermal, voltage, or current constraints.
- Detect controller saturation where requested torque or speed cannot be met.
- Detect and react to electrical, thermal, sensor, and communication faults.
- Support calibration and commissioning workflows.
- Identify emergency stop behavior triggered by safety logic or external emergency controls.
- Provide sufficient semantic detail to trigger safe fallback behavior, limp‑home modes, or controlled stops.
3 Syntax
4 Semantics
| Label | Description |
|---|---|
| Header | Motor State Header – Standard “CAV‑MTS‑Vx.y”. |
| Normal | Nominal operation; motor is within all electrical, thermal, and control limits and meeting requested setpoints. |
| LossOfTraction | Motor/wheel is spinning with insufficient tractive force; slip or loss of grip detected by control logic. |
| Idle | Motor enabled and available but producing negligible torque or velocity. |
| Active | Motor actively producing commanded torque, velocity, or position. |
| Starting | Transient state while ramping from idle or standstill to active operation. |
| Stopping | Transient state while ramping down torque or speed toward idle or stop. |
| DeratedThermal | Motor output is intentionally limited due to temperature thresholds being approached or exceeded. |
| DeratedVoltage | Motor output is limited due to DC bus or supply voltage constraints. |
| DeratedCurrent | Motor output is limited to enforce current limits or protect power electronics. |
| Saturated | Motor controller has reached its output limit and cannot increase torque or speed to meet the requested setpoint. |
| OvertemperatureFault | Fault triggered due to exceeding motor or inverter thermal protection thresholds. |
| OvercurrentFault | Fault triggered due to exceeding current protection limits. |
| UndervoltageFault | Fault triggered due to DC bus or supply voltage falling below safe operating levels. |
| SensorFault | Fault in encoder, resolver, temperature, current, or similar sensing components. |
| CommunicationFault | Loss, timeout, or corruption of communication with the motor controller or drive. |
| Calibration | Motor is undergoing calibration or zeroing procedures; output may be constrained or unavailable. |
| Offline | Motor or controller is powered down, not initialized, or administratively disabled. |
| EmergencyStop | Emergency stop engaged; torque generation is forcibly disabled by safety logic. |
| DataXMData | Information about this Motor State Instance. |
| DescrMetadata | Optional human‑readable descriptive metadata. |
