Dear everyone, I’m encoutering problems with CANOpen interface on a PFC200 750-8213.
I’m using it to send and receive only SDOs with some LENZE DRIVES 8400 TopLine.
All is working until I’m using a ETH/CAN LENZE 2180IB passerel to monitor the drive when my application is reading and writing SDO.
The passerel 2180 also send and receive a lot of SDO.
It seems like the CANOpen manager going down after some minutes.
LED CAN on the PFC200 remains in green.
Nothing to see on the WAGO Can open manager viwe when online.
After that, my PLC going in stop (watchdog triggered).
Only way to recover from this situation is to power down the PLC.
The position of the STOP came from :
WagoSysCan_Internal_PFC V1.0.1.6
FbCanOpenInterface.SdoWriteAsync
See screenshot “CAUSE_STOP_WRITE_SDO”.
All my code is on the 10ms task.
CAN OPEN and KBUS refresh putted on the 2ms task.
About CAN functions, I’m using blocks from “WagoAppCanOpen” V1.6.1.4.
CIA405_SDO_READxx
CIA405_SDO_WRITExx
Logs in “messages” :
Jan 21 16:05:32 PFC200V3-6CAAA4 CODESYS_3: CANopen: Init (State 0 CanError 0 CanErrorCode 4)
Jan 21 16:05:33 PFC200V3-6CAAA4 CODESYS_3: CANopen: Slave preop (State 42 CanError 0 CanErrorCode 0)
Jan 21 16:05:34 PFC200V3-6CAAA4 CODESYS_3: CANopen: NTW reset (State 61 CanError 0 CanErrorCode 0)
Jan 21 16:05:34 PFC200V3-6CAAA4 CODESYS_3: CANopen: NTW reset (State 61 CanError 2 CanErrorCode 1)
Jan 21 16:05:34 PFC200V3-6CAAA4 CODESYS_3: CANopen: NTW reset (State 61 CanError 0 CanErrorCode 0)
Jan 21 16:05:36 PFC200V3-6CAAA4 CODESYS_3: CANopen: Clear (State 80 CanError 0 CanErrorCode 0)
Jan 21 16:05:36 PFC200V3-6CAAA4 CODESYS_3: CANopen: Run (State A0 CanError 0 CanErrorCode 0)
Jan 21 16:05:39 PFC200V3-6CAAA4 progexecd: RUNSH: start cmd - ‘/bin/chrt -f -p 84 /bin/pidof "irq/37-can0"’
Jan 21 16:05:40 PFC200V3-6CAAA4 progexecd: RUNSH: start cmd - ‘/bin/echo /bin/pidof "irq/37-can0" > /sys/fs/cgroup/cpuacct/rts/iec/tasks’
Jan 21 16:08:13 PFC200V3-6CAAA4 progexecd: RUNSH: start cmd - ‘/bin/chrt -f -p 84 /bin/pidof "irq/37-can0"’
Jan 21 16:08:13 PFC200V3-6CAAA4 progexecd: RUNSH: start cmd - ‘/bin/echo /bin/pidof "irq/37-can0" > /sys/fs/cgroup/cpuacct/rts/iec/tasks’
Logs in “runtime.log” :
Jan 21 16:13:22 localhost codesys3: CmpIecTask EXCEPTION EXCEPTION [Watchdog] occurred: App=[Application], Task=[Tache_10ms]
Jan 21 16:13:22 localhost codesys3: CmpIecTask EXCEPTION SOURCEPOSITION App=[Application] area=2, offset=246856
Thanks in advance for your advices.
I can provide more logs.
