Fatal Error after flashing CANopen Firmware

[slaufmann]

I am using the MicroMod mounted to the Evaluation Board. I managed to flash the MicroMod with the CANopen Firmware and now i am able to access the PDOs and SDOs via the CANopen Magic Professional Software.

Here is the issue:
When i look at the debug data that comes out of the serial port then it says that a Fatal Error 0xf100 occured.
Here is the complete dump:

PEAK MicroMod CANopenIA V1.01 Rev.208
J0-J4: 0
Regular Operation as MicroMod:
LoadDefChk: 0x4DCC
CalcChk: 0x4DCC
load total_size=416
Load Mempos PDOChksunm=0x1BE
calc.Checksum=0x71F0
Load End Mempos=0x1BE
NVOL_Load_Para OK
Load_Para OK.125kbps, node ID 64
Number of I/O: DI 1, DO 1, AI 8, AO 4
Initialization completed!

Fatal Error: 0xF100

Can anyone tell me what this error code means?

[G.Bohlen]

Hello,

Fatal Error: 0xF100 : this means the module was not able to finish the transmission of a CAN-message.
Do you have any other CAN-node connected to the CAN-bus with the correct bitrate?
If not, the CAN-controller will never receive an acknowledge for a transmitted message and would infinetely retry to send this message. When an acknowledge is not received within a given time this error message is generated.

If other CAN-nodes are connected, please check the cables (CANH/CANL swapped or not connected), termination (2*120Ohm on both ends) and correct bitrate of 125kbaud.

Rgeards, Gunnar Bohlen

[slaufmann]

Do you have any other CAN-node connected to the CAN-bus with the correct bitrate?

There are two other devices connected to the CAN bus. One is a PCAN-USB which i expect not to transmit messages unless i do something with the software. The other one is a Beckhoff EL6751 CANopen Master.
My goal is that the EL6751 recognozes the MicroMod but i doesn't and the Beckhoff support couldn't get me further.
Then i noticed the error on the serial output and thought that this might cause the problems.

If not, the CAN-controller will never receive an acknowledge for a transmitted message and would infinetely retry to send this message.

I#m not sure but i think that the EL6751 would acknowledge CAN messages. But its behaviour is to send NMT requests to the CANopen network to boot up the nodes. After that it serves as a EtherCAT CANopen relais.

If other CAN-nodes are connected, please check the cables (CANH/CANL swapped or not connected), termination (2*120Ohm on both ends) and correct bitrate of 125kbaud.

Before the purchase i had the setup reviewed by PEAK System support but i attached a picture of it anyway.

In the manual of the CANopen Firmware i read a short section about boot mode selection. Is there any further information available on these boot modes?

[M.Maidhof]

Hi,

did you set the baudrate of the Beckhoff module and PCAN-USB to 125k? This is the default baudrate of PCAN-MicroMod CAN Open firmware.

regards

Michael

[slaufmann]

did you set the baudrate of the Beckhoff module and PCAN-USB to 125k? This is the default baudrate of PCAN-MicroMod CAN Open firmware.

I configured the baudrate of the PCAN-USB via the PCAN nets configuration software and set it to 125k. The Beckhoff module is configured via a software called TwinCAT 2 and after several sessions with the support i am sure that the baudrate is also set to 125kB/s.

The reason may also be in the behaviour of the EtherCAT module. But because i am no expert in either of the things, EtherCAT and CAN its hard to determine the sources of failure.

[M.Maidhof]

Hi,

ok, as a first step, only connect PCAN-USB and the MicroMod on your network. Than you should see a bootup message from the CAN-Open MicroMod in PCAN-View.

regards

Michael

[slaufmann]

ok, as a first step, only connect PCAN-USB and the MicroMod on your network. Than you should see a bootup message from the CAN-Open MicroMod in PCAN-View.

I used CANopen Magic Professional for that but it works fine. But it only works if i connect to the CAN network not in Listen only mode. I figure this is because in Listen only mode the PCAN-USB does not repeat/acknowledge the bootup message.

On the basis of that i think that this is causing the trouble i have with the Beckhoff module. Because when that one starts up it begins to send error frames and therefore does not recognize bootup messages because the error flods the bus.
But this is something i have to figure out with the Beckhoff people.

Thanks for your help.