User`s manual

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's Manual
PAGE 10-21
10.5.7 Warning Type: U7 (CAN Communications Warning) on 7-segment Display
The U7 warning is displayed when the CAN interface has malfunctioned. The T200 will servo-stop, apply the brake if
present, and then disable when U7 occurs.
Table 20: Causes of U7 on 7-segment Display
Cause Check/[Correction]
CAN Cable
Disconnected
CAN cable pin(s) have become disconnected, resulting in a break in CAN
communications.
[Check the CAN cable wiring, as per Section 9.]
Master Control
System Malfunction
Check that the master control computer has power-up correctly, and that it has started its
CAN communications process.
[Start the System Motion Controller, as required.]
CAN Parameters
Incorrect
The CAN Parameters Baud-Rate, Communication-Cycle-Period, Actual Window Time and
Command Window Time have to be set appropriately, and at the same values in all T200's
which communicate on the same CAN cable. The Node-ID's also have to be set correctly
to a unique number for each node.
[See Section 9 for an overview of suitable values for these parameters. ]
Excessive Noise on
CAN Cable
There is excessive noise interference on the CAN Cabling. Check:
§
Recommended cable type or equivalent type is used. Cable with characteristic
impedance of 120Ohms is recommended.
§
CAN Cable Termination with 120Ohms, at the physical extremities of the cabling
ONLY.
§
Connection of all pins, especially the GND and Cable-Shield connections, at all
connected end of the cabling.
§ CAN Cabling Routing, if alongside high current cabling
[Ensure there is only two termination resistors, at the physical end of the cabling
Correct mis-wiring.
Route cables away from motor power or other cables, which carry high currents if
possible.]
Software
Configuration Error
The Software has been mis-configured, with parameters, which are unachievable.
[Review Section 9, and re-configure the T200 correctly.]