Corrected from:
- Servo inverter 9400 HighLine with a Firmware version from V15.02.02
- Servo inverter 9400 ServoPLC with a Firmware version from V09.02.02
Response of the new version:
The CAN communication can be restarted after a 'BusOff' state with a 'Reset node'.
What happens?
After a 'BusOff' state, CAN communication cannot be restarted as expected with a 'Reset node', although the conditions for entering the BusOff state are no longer fulfilled.
A restart of the 9400 is required.
When does the behaviour occur?
- The control card of the 9400 has current hardware version ('Revision 3', C210/1 = 3x)
- CAN baud rate C351 = 2: 125 kbps
- A BusOff occurs, e.g. due to cable break, interference coupling or subscribers with wrong bit rate
- A reset node from any source is executed
Which products are affected?
Servo Inverter 9400 HighLine with a firmware version from V14.08.00.00 and current hardware version of the control card ('Revision 3', C210/1 = 3x)
Servo Inverter 9400 ServoPLC with a firmware version from V08.08.00.00 and current hardware version of the control card ('Revision 3', C210/1 = 3x)
Short-term measures:
- To restart CAN communication after a BusOff, the 9400 must be restarted. This can be done by switching the device to the mains or by using the device command Device command C0002 = 11000: Restart controller.
- In CAN networks where the CAN master is not one of 9400 of the affected products , the 'autobaud function' can be activated for the affected slave instead of the fixed transmission rate 125 kbps: CAN baud rate C351 = 255: Automatic recognition. After the reset node the slave synchronizes automatically to the detected baud rate (also 125 kbps) and changes to the state Pre-Operational.
Evaluation/Recommendations:
With the affected components, CAN communication can only be restarted from a BusOff state by switching on the power.
Initiator for the occurrence of the behavior is an error condition of the CAN: BusOff. This state should be avoided.
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