Definition
Functional Requirements
Syntax
Semantics
Conformance
Performance
1 Definition
Motor States define the set of operational and fault‑related conditions that a Motor may report to the Motion Actuation Subsystem (MAS). They describe the real, physical and control‑level behaviour of traction and drive motors used for propulsion and, where applicable, regenerative braking. These states enable the MAS to interpret torque delivery, detect degradation or faults, coordinate traction control, and enforce safety‑critical reactions such as derating or emergency stop.
2 Functional Requirements
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 behaviour.
- 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 behaviour triggered by safety logic or external emergency controls.
- Provide sufficient semantic detail to trigger safe fallback behaviour, limp‑home modes, or controlled stops.
3 Syntax
https://schemas.mpai.community/CAV2/V2.0/data/MotorStates.json
4 Semantics
Table 1 specifies the semantics of the Motor States Data Type.
| Value |
|---|
| Normal |
| LossOfTraction |
| Idle |
| Active |
| Starting |
| Stopping |
| DeratedThermal |
| DeratedVoltage |
| DeratedCurrent |
| Saturated |
| OvertemperatureFault |
| OvercurrentFault |
| UndervoltageFault |
| SensorFault |
| CommunicationFault |
| Calibration |
| Offline |
| EmergencyStop |
5 Conformance Testing
Data conform to the Motor States Data Type when they validate against its schema. If the schema references other schemas, data referencing a secondary schema shall also validate against that schema, if present, and conform with the Qualifier, if present.
