Response To Busoff Communication Faults; Important Configuration Parameters - Kollmorgen AKD User Manual

5.3 Response to BUSOFF Communication Faults

The communication fault BUSOFF is directly monitored and signaled by Level 2 (CAN controller). This message
may have various causes. A few examples:
Telegrams are transmitted, although there is no other CAN node connected
l
CAN nodes have different transmission rates
l
The bus cable is faulty
l
Faulty cable termination causes reflections on the cable.
l
A BUSOFF is only signaled by the AKD, if another CAN node is connected and at least one object was suc-
cessfully transmitted to start off with. The BUSOFF condition is signaled by the error message 702. If the output
stage is enabled at the moment when this fault occurs, the output stage is disabled.

5.4 Important Configuration Parameters

FBUS.PARAM01 see "Transmission Rate and Procedure" on p.24
FBUS.PARAM02 0 - no PLL used for synchronization
1 - PLL used for synchronized modes, IP (7), CSP (8), generates a warning n125, when PLL
is unlocked
FBUS.PARAM04 0 - arrival of SYNC-messages in cyclic-synchronized application is not supervised
1 - arrival of SYNC-messages in cyclic-synchronized application is supervised (after 3 miss-
ing SYNC-telegrams the fault F125 is generated)
FBUS.PARAM05 description for bits 0 to 3 as in AKD - command reference
Bit 0
1: Faults can only be reset using DS402 control word bit 7.
0 = 0: The reset can also be done via telnet or digital input and the DS402 state machine
reflects this condition.
Bit 1
1: The state of the hardware enable does not change the state machine state Operation Ena-
ble.
0: If the state Operation Enable or Switched on is active it falls back to the state switched On
Disabled, if the Hardware enable goes to 0.
Bit 2
1: Workbench/Telnet can not software enable the drive, when CANopen/EtherCAT are Oper-
ational.
0: Workbench/Telnet can software enable the drive.
Bit 3
1: DS402-state machine is not influenced, if the software-enable is taken away via Telnet.
0: DS402-state machine is influenced, if the software-enable is taken away via Telnet.
Bit 4
1: Scaling is done via special DS402 - objects (independent on units)
0: Scaling for position, velocity and acceleration objects is done via UNIT parameters
Bit 5 used in EtherCAT, reserved for CAN
Bit 6
1: Bit 0 of parameter MT.CNTL (object 35D9 sub 0) can be accesse
0: Bit 0 of parameter MT.CNTL (object 35D9 sub 0) is exclusively used for DS402 con-
trolwordd
AKD CANopen | 5 CANopen Basics
Kollmorgen™ | November 2012 25