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9 Communication9.7.5 Troubleshooting for CANopen Communication
9.7.5 Troubleshooting for CANopen Communication
1) Checking whether CANopen is supported
Device Check
PLC
Check the D8280 value.
If D8280 = 100, CANopen is supported; otherwise, CANopen is not
supported.
AC drive/servo Check the software version. For details, see the user manual.
2) Checking the build-out resistor
Power off all devices. Use a multimeter to measure the resistance between CANH and CANL. The
resistance should be about 60 Ω. If the resistance is too small, there are build-out resistors incorrectly
connected at other locations. In this case, disconnect these build-out resistors. If only one resistor is
available, the resistance is about 120 Ω, and the network connection is bad. If no resistor is available,
communication fails. Provide build-out resistors between the stations at both ends of the network.
3) Checking the baud rate
Check whether the baud rate is normal. Power off and then on the device or switch it from STOP to RUN
so that the baud rate can take effect.
For the relationship between distance and baud rate, see
“3) Relationship between distance and baud rate” on
page 620
.
4) Checking wiring
The CAN communication port and extension module of the PLC are powered by an external 24 V power
supply. The AC drive and servo are self-powered. Interconnect CGND pins of all CAN devices to ensure
that all devices share one power supply CGND port.
Check whether the communication cable, shielded cable, and power supply are short-circuited.
5) Others
In case of strong interference, reduce the baud rate.
9.7.6 List of Fault Codes
1) SDO error codes
Abort Code Function
0503 0000 Trigger bits not alternated
0504 0000 SDO protocol timeout
0504 0001 Invalid or unknown client/server command word
0504 0002 Invalid block size (for the block transfer mode only)
0504 0003 Invalid serial number (for the block transfer mode only)
0503 0004 CRC error (for the block transfer mode only)
0503 0005 Memory overow
0601 0000 Inaccessible object
0601 0001 Attempt to read a write-only object
0601 0002 Attempt to write a read-only object
0602 0000 Object unavailable in the OD
0604 0041 Object unable to be mapped to the PDO
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