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.]
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