BorgWarner/Sevcon Gen4 Motor Controller: LED Fault Code Reference Guide

Each BorgWarner/Sevcon Gen4 Motor Controller (Size 2, 4, and 6) is equipped with a green LED that flashes in a repetitive sequence when a fault is detected.

The green LED on the faulty Gen4 controller will flash a specific number of times, pause briefly, then repeat the sequence. Each pattern corresponds to a unique fault category.

For example, a sequence of three flashes followed by a short pause, then repeating (3 – pause – 3 – pause – …), indicates Fault Code 3: MOSFET/IGBT failure.

When multiple faults are present, the LED will indicate only the highest priority fault within the system

Fault Category Indication via LED Flashes

LED Flashes	Fault Category
0 (Off)	Internal hardware failure
1	Configuration fault
2	Input sequence fault
3	MOSFET/IGBT failure
4	Contactor failure
5	Miscellaneous
6	Analogue input failure
7	Battery faults
8	Temperature faults
9	Contactor coil short circuit
10	Unit is Preoperational
11	General
12	CAN or communication faults
13	Internal faults
14	Peripheral faults
15	Service required

While the LED flash codes on Gen4 Motor Controllers provide a quick way to identify the type of fault, deeper diagnostic information requires the use of DVT software.

Specific Fault Codes & Recommended Action

Each fault category is associated with multiple specific fault codes, as detailed below:

LED Flash	BorgWarner Fault Code	Fault Type (level description)	Fault Message	Description / Fault Cause	Recommended Action
1	0x4441	Warning	Motor Characterisation Mode	Controller is configured in a mode intended to carry out characterisation	If motor characterisation mode has been configured or enabled then no action is required. Otherwise the configuration should be checked
1	0x4C41	Severe	Too many slaves	Number of slaves (0x2810,0) set higher than maximum allowed number of slaves (typically 7)	Check 0x2810,0 setting is correct
1	0x5041	Very Severe	Bad NVM Data	EEPROM or flash configuration data corrupted and data can not be recovered.	If firmware has recently been updated, revert to previous version. Contact BorgWarner for support.
1	0x5042	Very Severe	VPDO Out of Range	VPDO mapped to non-existent or invalid object	Check all VPDO mappings (0x3000 to 0x3400)
1	0x5043	Very Severe	Static Range Error	At least one configuration object is out of range	Set configuration object to valid value. Our of range object can be identified using 0x5621 or DVT CLI window.
1	0x5044	Very Severe	Dynamic Range Error	At least one configuration object is out of dynamic range. This is where one objects range depends on another object or hardware variant specific level.	Check all dynamic range objects. DVT CLI window indicates type of object which is out of range.
1	0x5441	Return to Base	Incompatible hardware version	Detected controller hardware version incompatible with software	Check correct software is programmed into controller. Reprogram if necessary. Contact BorgWarner
1	0x5442	Return to Base	Calibration Fault	Calibration settings in controller are out of range or not set	Controller current sensors require calibration. Contact BorgWarner
2	0x4481	Warning	Handbrake Fault (warn)	Handbrake is active when a direction selected	Warning to release the handbrake before driving
2	0x4881	Drive Inhibit	Seat Fault	Valid direction selected with operator not seated or operator is not seated for a user configurable time in drive.	Must be seated with switches inactive
2	0x4882	Drive Inhibit	Two Direction Fault	Both the forward and reverse switches have been active simultaneously for greater than 200 ms.	If both switches are selected then release both, then select required direction. If fault persists check vehicle wiring and configuration of mapping for digital inputs.
2	0x4883	Drive Inhibit	SRO Fault	FS1 (foot switch / throttle) active for user configurable delay (0x2914,2) without a direction selected.	Deselect FS1 (foot switch / throttle) and select direction first
2	0x4884	Drive Inhibit	Sequence Fault	Any drive switch active at power up as configured in 0x2918	Deselect all drive switches and then reselect required switch.
2	0x4885	Drive Inhibit	FS1 Recycle Fault	FS1 (foot switch / throttle) active after a direction change and FS1 recycle function enabled (0x2914,1,bit1)	Deselect FS1 / throttle pedal
2	0x4886	Drive Inhibit	Inch Fault	Inch switch active along with any drive switch active (excluding inch switches), seat switch indicating operator present or handbrake switch active.	Correct conditions need to be met for inching functionality (drive not selected, operator not present and handbrake released)
2	0x488D	Drive Inhibit	Belly fault	Belly switch function has activated.	Deselect belly switch
2	0x5081	Very Severe	Invalid Steer Switches	Steering switches are in an invalid state	Check steering switches and wiring. Check steering map 0x2913 is valid
3	0x54C1	Return to Base	PowerFrame Overvoltage Fault	DC link voltage exceeds rated maximum for controller	Check battery condition and wiring. Ensure battery voltage is not too high for the controller operational rating
3	0x54C2	Return to Base	PowerFrame Fault	Current flow exceeds controller maximum. Caused by motor current too high, configuration error causing overcurrent, wiring fault/short or internal controller failure	Check motor control configuration and wiring. If fault is set persistently, disconnect motor cables to see if fault clears
3	0x54C3	Return to Base	PowerFrame s/c M1 upper	MOSFET / IGBT short circuit detection on M1 top devices. Fault condition is checked when powerframe disabled by comparing M1 terminal voltage to B+	Check motor wiring. Check controller condition with motor disconnected
3	0x54C4	Return to Base	PowerFrame s/c M1 lower	MOSFET / IGBT short circuit detection on M1 bottom devices. Fault condition is checked when powerframe disabled by comparing M1 terminal voltage to B-	Check motor wiring. Check controller condition with motor disconnected
3	0x54C5	Return to Base	PowerFrame s/c M2 upper	MOSFET / IGBT short circuit detection on M2 top devices. Fault condition is checked when powerframe disabled by comparing M2 terminal voltage to B+	Check motor wiring. Check controller condition with motor disconnected
3	0x54C6	Return to Base	PowerFrame s/c M2 lower	MOSFET / IGBT short circuit detection on M2 bottom devices. Fault condition is checked when powerframe disabled by comparing M2 terminal voltage to B-	Check motor wiring. Check controller condition with motor disconnected
3	0x54C7	Return to Base	PowerFrame s/c M3 upper	MOSFET / IGBT short circuit detection on M3 top devices. Fault condition is checked when powerframe disabled by comparing M3 terminal voltage to B+	Check motor wiring. Check controller condition with motor disconnected
3	0x54C8	Return to Base	PowerFrame s/c M3 lower	MOSFET / IGBT short circuit detection on M3 bottom devices. Fault condition is checked when powerframe disabled by comparing M3 terminal voltage to B-	Check motor wiring. Check controller condition with motor disconnected
3	0x54C9	Return to Base	PowerFrame s/c checks incomplete	Unable to complete MOSFET / IGBT short circuit tests at power up	Ensure pre-charge has increased DC link voltage high enough for tests to be carried out.
4	0x5101	Very Severe	Line Contactor o/c	Line contactor open circuit – contactor did not close when the coil is energized.	Check line contactor operation and wiring. DC link fuse blown
4	0x5102	Very Severe	Line Contactor welded	Line contactor appears to be closed when the coil is NOT energized.	Check line contactor hasn’t welded closed and the wiring is correct. Make sure the line contactor is not mapped if there is not one connected and controlled by the motor inverter
4	0x5103	Very Severe	Contactor Drive Fault	Fault with contactor drive	Check contactor and wiring for short circuits. If fault persists replace the controller
5	0x4546	Warning	No Motor Speed Signal	No speed feedback from motor sensor	Check encoder wiring and speed measurement signal
5	0x4548	Warning	Steer Sensor warning	Invalid steer sensor state	Check steer sensor wiring and configuration
5	0x454C	Warning	Electrolyte Low Level	Battery Electrolyte low level detected	Check battery electrolyte level
5	0x454D	Warning	Electrolyte Cutout Level	Battery Electrolyte low level detected and cutback	Check battery electrolyte level
5	0x4D42	Severe	Motor Open Circuit Fault	Motor terminal is open circuit or disconnected from controller	Check motor wiring. Check controller condition
5	0x4D43	Severe	Motor stalled	No speed feedback from motor	Check encoder wiring and speed measurement signal
6	0x458A	Warning	Seat (warning)	Seat switch open so configured regen settings in 0x2928 are being applied	Close the seat switch and recycle the selected direction
6	0x458B	Warning	Footbrake (warning)	Customer specific fault. Raised when analog footbrake voltage does not match digital footbrake switch state	Check footbrake wiring and installation
6	0x4981	Drive Inhibit	Throttle Fault	Throttle value (0x2620,0) is greater than 20% at power up.	Release throttle and re-apply. Check wiring
6	0x4982	Drive Inhibit	E-Brake Wire off	Wire-off detected in electrobrake circuit	Check electrobrake wiring, ensure current flows when energised
6	0x4983	Drive Inhibit	Direction Change	Direction is changed and vehicle speed is greated than allowed in 0x2929,2	Neutral switch should be selected to clear the fault
6	0x5181	Very Severe	Digital Input Wire Off	Digital input wire-off	Check wiring and configuration
6	0x5182	Very Severe	Analog Input Wire Off	Analog input voltage outside of configured range (0x46C0 – 0x46C7)	Check wiring and configuration is correct in 0x46c0 to 0x46c7. If analog input is not used the range should be set to the minimum and maximum limits
6	0x5183	Very Severe	Analog Output Over Current	Contactor driver over current protection has activated	Ensure contactor doesn’t exceed maximum current and check contactor wiring for short circuits. Make sure contactor or load is NOT capacitive such as contactors with economizer circuits
6	0x5184	Very Severe	Analog Output On with No Failsafe	Internal hardware failsafe circuitry not working	Contact driver failed startup checks. Internal circuit has failed or external wiring issues with contactor connected to B- / logic ground. For Gen4 DC the contactor output used needs to be configured in 0x46A5, if none are used a resistor needs to be fitted in place of a contactor for the test to complete – see Gen4DC manual / AppNote
6	0x5185	Very Severe	Analog Output Off with Failsafe	Contactor driver circuit has failed start up checks	Contact driver couldn’t activate for startup checks. Internal circuit has failed or external coil short circuit or wiring issue connecting contactor driver to keyswitch
6	0x5186	Very Severe	Analog Output Over Temperature	Contactor driver over temperature	Ensure contactor doesn’t exceed maximum current and check contactor wiring
6	0x5187	Very Severe	Analog Output Under Current	Contactor driver unable to achieve current target in current mode	Ensure contactor driver current target is within range for available voltage
6	0x5188	Very Severe	Analog Output Short Circuit	Contactor driver MOSFET short circuit detected	Check contactor and wiring for short circuits. If fault persists replace the controller
7	0x45C1	Warning	BDI (battery discharge) warning	BDI remaining charge (0x2790,1) is less than configured BDI Warning level (0x2C30,5). No action is taken by the controller. For information only.	Charge battery (or if commissioning controller and battery is charged check BDI configuration in 0x2C30)
7	0x45C2	Warning	BDI (battery discharge) cutout	BDI remaining charge (0x2790,1) is less than configured BDI Cutout level (0x2C30,4). The low BDI drivability profile is applied if configured in 0x2931.	Charge battery (or if commissioning controller and battery is charged check BDI configuration in 0x2C30)
7	0x45C3	Warning	Low Battery cutout	Battery voltage is less than the configured Under Voltage limit (0x2C02,2) for longer than the protection delay (0x2C03,0)	Charge battery (or if commissioning controller and battery is charged check BattApp configuration in 0x2C01, 0x2C02, 0x2C03)
7	0x45C4	Warning	High Battery cutout	Battery voltage is greater than the configured Over Voltage limit (0x2C01,2) for longer than the protection delay (0x2C03,0)	Charge battery (or if commissioning controller and battery is charged check BattApp configuration in 0x2C01, 0x2C02, 0x2C03)
7	0x45C5	Warning	High Capacitor cutout	Capacitor voltage is greater than the configured Over Voltage limit (0x2C01,2) for longer than the protection delay (0x2C03,0)	Charge battery (or if commissioning controller and battery is charged check BattApp configuration in 0x2C01, 0x2C02, 0x2C03)
7	0x45C6	Warning	Vbat below rated min	Battery voltage is less than rated minimum voltage for controller for longer than 1sec	Charge battery or check DC link voltage is within controller operating range (NOTE: This fault is sometimes seen at power down)
7	0x45C7	Warning	Vbat above rated max	Battery voltage is greater than rated maximum voltage for controller for longer than 1sec	Charge battery or check DC link voltage is within controller operating range
7	0x45C8	Warning	Vcap above rated max	Capacitor voltage is greater than rated maximum voltage for controller for longer than 1sec	Charge battery or check DC link voltage is within controller operating range
7	0x45C9	Warning	Vcap cutback for motoring torque	Capacitor voltage is in low voltage cutback region configured in 0x4612 for motor control / torque conditioner drive voltage cutback map	Charge battery and DC link voltage is within configured range (if commissioning controller check drive torque cutback map 0x4612 is correct)
7	0x45CA	Warning	Vcap cutback for regen torque	Capacitor voltage is in high voltage cutback region configured in 0x4619 (or 0x4612 if 0x4619 not present) for motor control / torque conditioner regen voltage cutback map	Charge battery and DC link voltage is within configured range (if commissioning controller check regen torque cutback map 0x4619 is correct, use 0x4612 if 0x4619 not present)
7	0x45CE	Warning	Vcap to Vkey (Vbat) difference	Vcap is below 7/8 of Vkey (Vbat) due to DC link pre-charge problems	Charge battery or check pre-charge
7	0x4DC3	Severe	Power Supply (keyswitch) Critical	Battery voltage has dropped below critical level	Check controller voltage supply
7	0x51C2	Very Severe	Capacitor Precharge Failure	Capacitor voltage (0x5100,3) did not rise above 5V at power up	Check battery connection for reverse polarity, or check internal / external short circuit across the DC link.Potential failure of pre-charge circuit or relay.
8	0x4601	Warning	Device too cold	Low heatsink temperature has reduced available power to motor	Allow controller to warm up to normal operating temperature
8	0x4602	Warning	Device too hot	High heatsink / junction / PCB track / capacitor temperature has reduced available power to motor	Allow controller to cool down to normal operating temperature. Check coolant flow rate / air flow is sufficient for required motor current
8	0x4603	Warning	Motor in thermal cutback	High measured (0x4600,3) or estimated (0x4602,8) motor temperature has reduced available power to motor as configured in 0x4620, 0x4621, 0x461E, 0x461F	Allow motor to cool down to normal operating temperature. Check motor cooling or motor thermistor configuration and wiring. If not using a thermistor and this fault is set make sure motor estimate is configured correctly (or disabled in 0x4621,1 = 0 and 0x4621,2 = 100)
8	0x4604	Warning	Motor too cold	Motor measured temperature is below -30degC	Check motor thermistor connection or allow motor to warm up. Check motor thermistor configuration and wiring
8	0x5201	Very Severe	Heatsink / device overtemp	Controller heatsink (or junctions, capacitors, PCB) has reached critical high temperature, and the controller has shut down.	Allow controller to cool down to normal operating temperature. If liquid cooled check coolant flow.
10	0x4681	Warning	Unit in pre-operational	Controller is in pre-operational state	If configured and ready for use, change state to operational. If controller is slave check master state
10	0x4682	Warning	IO can’t initialise	Controller has not received all configured RPDOs at power up	Check PDOs on all other CANbus nodes are configured correctly and match up with controller RPDO configuration. Check CAN wiring.
10	0x4683	Warning	RPDO Timeout (warning)	One or more configured RPDOs not received with 3sec at start up or 500ms during normal operation.	Check status of all nodes on CANbus. Check PDOs on all CANbus nodes are configured correctly and match up with controller RPDO configuration
10	0x4A81	Drive Inhibit	RPDO Timeout (drive inhibit)	One or more configured RPDOs not received with 3s at start up or 500ms during normal operation.	Check status of all nodes on CANbus. Check PDOs on all CANbus nodes are configured correctly and match up.
10	0x4E81	Severe	RPDO Timeout (severe)	One or more configured RPDOs not received with 3s at start up or 500ms during normal operation.	Check status of all nodes on CANbus. Check PDOs on all CANbus nodes are configured correctly and match up.
11	0x46C2	Warning	SinCos Tracking Warning	SinCos tracked Min-Max (trough-peak) values are deviating from the configured levels and are heading towards a voltage rail or converging together. Typically due to thermal or mechanical variation	Check sincos sensor, wiring and encoder configuration
11	0x46C3	Warning	Fault Ride Through	A fault ride through event has been encountered, but operation is allowed to continue although the system may be derated	Investigate cause of the original fault that is activating fault ride through
11	0x46C6	Warning	Encoder PLL Deactivated (warning)	Encoder PLL has turned off due to poor angle tracking	Check PLL gains, encoder setup and wiring – especially shielding and routing of encoder cables
11	0x52C1	Very Severe	Encoder Fault	Encoder input wire-off is detected.	Check encoder wiring – especially shielding and routing of encoder cables. Check configuration is valid and peak / trough correct for sincos
11	0x52C2	Very Severe	Motor Overcurrent Fault	Motor current exceeded controller rated maximum	Check motor configuration and wiring. Typically caused by current control gains or motor parameters incorrect.
11	0x52C3	Very Severe	Current Control Fault	Motor controller unable to maintain control of motor currents	Check motor configuration and wiring. Typically caused by current control gains or motor parameters incorrect. For PMAC check encoder alignment
11	0x52C4	Very Severe	Motor Overspeed Fault	Motor speed has exceeded overspeed threshold in 0x4624	Check speed limit gains and configuration. Ensure motor speed is not too high for configuration.
12	0x4B01	Drive Inhibit	CAN bus-off (drive inhibit)	CANbus off fault condition detected on multinode system. NOTE: normally this is a Very Severe CAN off fault	Check CANbus wiring and configuration (no duplicate COB-IDs, correct baud rate). If controller is standalone check configuration in 0x5901,0
12	0x4F01	Severe	CANopen unexpected slave state	CANopen slave has changed to unexpected state	Check status of all nodes on CANbus.
12	0x5301	Very Severe	CAN bus Fault	CANbus fault condition detected.	Check CANbus wiring and configuration
12	0x5302	Very Severe	CANopen Bootup not received	CANopen slave has not transmitted boot up message at power up	Check status of all nodes on CANbus and multinode configuration.
12	0x5304	Very Severe	CAN Lo-Pri Tx queue overrun	Low priority CAN transmit queue overflow.	Check CANbus wiring and configuration. Ensure messages are being acknowledged and bus load is not too high
12	0x5305	Very Severe	CAN Hi-Pri Rx queue overrun	High priority CAN receive queue overflow.	Check CANbus wiring and configuration. Ensure transmitting node is sending at correct rate
12	0x5306	Very Severe	CAN Hi-Pri Tx queue overrun	High priority CAN transmit queue overflow.	Check CANbus wiring and configuration. Ensure messages are being acknowledged and bus load is not too high
12	0x5308	Very Severe	CAN bus-off	CAN OFF bus fault condition detected on multinode system.	Check CANbus wiring and configuration (all nodes are same baud rate and no duplicate COB-ids configured). If single node check 0x5901,0 is not enabled unless required
12	0x530A	Very Severe	CANopen Short PDO received	Received RPDO doesn’t contains enough bytes	Check PDOs on all CANbus nodes are configured correctly and match up to configuration of transmitting nodes. Ensure there are no duplicate COB-IDs
12	0x530B	Very Severe	CANopen Heartbeat Failed	Heartbeat not received within configured time out (0x1016)	Check status of all nodes on CANbus. Heartbeat consumer is set correctly in 0x1016 to match slave nodes
12	0x530C	Very Severe	CANopen device in wrong state	CANopen slave has changed to unexpected state (typically failed to go operational)	Check status of all nodes on CANbus. Configuration issues such as multiple masters on bus, duplicate node ID or heartbeat COBIDs can trigger the fault.
12	0x530F	Very Severe	CANopen SDO Timeout Error	Internal CANopen fault	Check SDO client and server COBID are set correctly
12	0x5319	Very Severe	Motor slave in wrong state	Motor control slave has not responded as expected to controlword sent by TracApp or PumpApp. This can either be the same controller for single node systems or a slave node connected over CAN	Typically caused when the motor controller can’t enable due to being unable to complete power on checks due to spinning motors or insufficient DC link voltage. Bridge enable timeout is also known to trigger this fault.
13	0x4741	Warning	Scheduler stack overflow warning	This warning is set if any task has between 10% and 20% of its stack free.	Internal software warning. Contact BorgWarner.
13	0x4F41	Severe	Internal SW Fault	Internal software fault – typically set in combination with another fault	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F42	Severe	Out of memory	Out of memory – internal software fault	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F43	Severe	General DSP error	Unknown error raised by motor model code – internal software fault	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F44	Severe	Timer Error	Unable to allocate timer – internal software fault	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F45	Severe	Queue Error	Unable to post message to queue – internal software fault	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F46	Severe	Scheduler Error	Unable to create task in scheduler – internal software fault	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F48	Severe	I/O Internal SW Error	Input Output subsytem fault – internal software fault or configuration error	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F49	Severe	GIO Internal SW Error	Generic IO subsystem fault – internal software fault or configuration error	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F4C	Severe	OBD Internal SW Error	Object Dictionary subsystem fault – internal software fault or parameter range error fault	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F4D	Severe	VehApp Internal SW Error	Vehicle Application subsystem fault – internal software fault or configuration error	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F4E	Severe	DMC Internal SW Error	Drives and Motion Control subsystem fault – internal software fault or configuration error	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F4F	Severe	TracApp Internal SW Error	Traction Application subsystem fault – internal software fault or configuration error	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F53	Severe	App Manager Internal SW Error	Application Manager subsystem fault – internal software fault or configuration error	If other faults are set, resolve the conditions for these faults. Check configuration is valid and recycle keyswitch. If this is the only fault set contact BorgWarner with the fault data bytes, controller report and dcf configuration file
13	0x4F54	Severe	Autozero Range Error	Current sensor auto-zero value outside of allowed range	Internal hardware fault or check configuration in 0x4654,0 (if available)
13	0x4F55	Severe	DSP motor parameter error	Internal software fault or configuration object is out of range: Also may indicate issue with IPM 3D tables	Set configuration object to valid value. Out of range object can be identified using 0x5621 or DVT CLI window (if enabled)
13	0x5343	Very Severe	Fault List Overflow	Attempting to set too many faults.	Internal software fault. Ensure correct firmware and settings are loaded. Logic supply is above critical level.
13	0x5345	Very Severe	Scheduler stack Overflow	Less than 10% of the stack is free on one of the RTOS tasks.	Internal software fault. Check configuration and contact BorgWarner
14	0x4781	Warning	CANopen anon EMCY level 1	EMCY message received from non-BorgWarner node and anonymous EMCY level (0x2830,0) is set to 1.	Check status of non-BorgWarner nodes on CANbus
14	0x4B81	Drive Inhibit	CANopen anon EMCY level 2	EMCY message received from non-BorgWarner node and anonymous EMCY level (0x2830,0) is set to 2.	Check status of non-BorgWarner nodes on CANbus
14	0x4F81	Severe	CANopen anon EMCY level 3	EMCY message received from non-BorgWarner node and anonymous EMCY level (0x2830,0) is set to 3.	Check status of non-BorgWarner nodes on CANbus
14	0x5381	Very Severe	CANopen anon EMCY level 4	EMCY message received from non-BorgWarner node and anonymous EMCY level (0x2830,0) is set to 4.	Check status of non-BorgWarner nodes on CANbus
14	0x5781	Return to Base	CANopen anon EMCY level 5	EMCY message received from non-BorgWarner node and anonymous EMCY level (0x2830,0) is set to 5.	Check status of non-BorgWarner nodes on CANbus
15	0x47C1	Warning	Vehicle Service Required	Vehicle service next due time (0x2850,5) has expired. If supported Service driveability profile (0x2925) will activate.	Service vehicle and reset service hours counter. Or check service configuation if service indication not required.