Introduction 07/06 Danaher Motion
2 Initial Release M-S2-021-11
Transmission Rate And Procedure
— bus connection and bus medium: CAN-standard ISO 11898 (CAN high-speed)
— transmission rate: max. 1Mbit/s
» possible settings for the servo amplifier:
10, 20, 50, 100, 125, 250, 333, 500 (default), 666, 800, 1000 kbit/s
1. 3 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
— CAN nodes have different transmission rates
— the bus cable is faulty
— faulty cable termination causes reflections on the cable.
A BUSOFF is only signaled by the if another CAN node is connected and at least one object was
successfully transmitted to start off with. The BUSOFF condition is signaled by the error message F23. If
the output stage is enabled for the execution of a motion task at the moment when this fault occurs, then the
drive is braked to a stop, using the emergency stop ramp, and the output stage is disabled.
