https://forge.codesys.com/forge/talk/Engineering/thread/e527f4fa97/2022-07-08T14:51:56.506000ZRecent posts to CANopen slave crashes on "Start Remote Node" command from master, SYNC related2022-07-08T14:51:56.506000Z2022-07-08T14:51:56.506000Zsean-bartonhttps://forge.codesys.com/u/sean-barton/https://forge.codesys.comc6f0c8e014683ead66231f136da839433ea5a16c

<div class="markdown_content"><p>I made the changes you suggested and I've noticed the slave can running several minutes before crashing.</p> <p>In most cases, I have been powering off/on both ECUs to test on startup.</p> <p>There are typically errors due to peripheral status and items that havn't affected the ECU in the past but because you pointed out the log, I ran through it more thoroughly. While watching the log during the start process, I notice four errors that occur after the slave crashes. They seem to show some sort of "fatal" status (not exceptions) but it's not very clear. I'll dive into these errors more deeply.</p> <p>The application and CAN cycles are on different tasks. The CAN task average is 8.5ms with a maximum cycle time of 16ms. The task interval is set to 100ms. There is no jitter on either task.</p></div>

2022-07-07T22:02:33.783000Z2022-07-07T22:02:33.783000ZDavidBohttps://forge.codesys.com/u/davidbo/https://forge.codesys.comeebaabd16bdf84c89d8baf26bd73dc0105cf610e

<div class="markdown_content"><p>In the "window" all PDO is transmitted and received. You have 100ms and I think you need 50ms so that should be alright.<br/> But hereafter you have only 20ms to SDOs and I suppose "heart beat"s (But I don't know) You have 3 heart beats one from each slave and one from the master maybe 20ms is not enough. What about a period of 160ms and heart beats of 320ms. What happens if you power off/on for the system. CODESYS has a log for each slave what does these say?<br/> What is your application cycle (not SYNC cycle)?</p></div>

2022-07-07T20:13:21.410000Z2022-07-07T20:13:21.410000Zsean-bartonhttps://forge.codesys.com/u/sean-barton/https://forge.codesys.comeab967e516d33ba363abc3ad2195888802d28200

<div class="markdown_content"><p>I changed the heartbeat time from its original 200ms to 240ms as a multiple of the SYNC period of 120ms. At first it seemed to work, so I disconnected to change a PDO I have running as Asynchronous to Acyclic which also has active data transferring on it. I reconnected, and it appeared to work but after about 15 seconds the slave crashed again. Usually the connection stops immediately but this time it was working and I could verify that the data was transferring to the other device. </p> <p>That was on the first few connections, but now the slave has gone back to crashing almost immediately every time a connection is made. Since the first successful connection, I've only played with the timings in the hopes of getting the connection back - even putting everything back to when the first successful connection was made but the slave still crashes.</p></div>

2022-07-07T16:59:04.679000Z2022-07-07T16:59:04.679000ZDavidBohttps://forge.codesys.com/u/davidbo/https://forge.codesys.com1b7fbf65d177acbc77738526cf11b1028829fe62

<div class="markdown_content"><p>I don't know SIL2 but since it has something to do with safety one could imagine that heart beat might be a requirement. If you enable the "heat beat" let the time for "heart beat" producing be a multiple of the the SYNC period.</p></div>

2022-07-07T14:42:45.112000Z2022-07-07T14:42:45.112000Zsean-bartonhttps://forge.codesys.com/u/sean-barton/https://forge.codesys.combb1ddb641b85ae71c00527c0bbcfed02d16d303c

<div class="markdown_content"><p>I disabled both heartbeat producing on master and slave with the new SYNC settings. On the CANbus I observed the reset message from the master but the slave does not report a pre-operational state, only 00. When a "Start Remote Node" message is issued from the master, the slave stops working as before, with the red LEDs showing and no activity from the slave on the CANbus.</p> <p>After the above observation, I also noticed heartbeat consuming on the slave was enabled. I disabled this setting but the result was the same, the slave ECU stops responding on start message from the master.</p> <p>I should note that the ECUs are SIL2 but I have not implemented any code in the Safety PLC side. I'm not sure if this matters.</p></div>

2022-07-07T14:32:45.409000Z2022-07-07T14:32:45.409000Zsean-bartonhttps://forge.codesys.com/u/sean-barton/https://forge.codesys.com4a597965b97a6de55fe777b2fadcf6dca1c12b28

<div class="markdown_content"><p>Yes, that is correct. without SYNC the slave LEDs remain green and operate as normal. The system is using two mobile industrial ECUs of the same manufacture.</p></div>

2022-07-07T05:45:20.288000Z2022-07-07T05:45:20.288000ZDavidBohttps://forge.codesys.com/u/davidbo/https://forge.codesys.coma528da6828383186a0b800b26f45a2c6f5831cf2

<div class="markdown_content"><p>Try to disable heart beat producing on master, but enable SYNC with your new timing settings</p></div>

2022-07-07T05:38:43.192000Z2022-07-07T05:38:43.192000ZDavidBohttps://forge.codesys.com/u/davidbo/https://forge.codesys.com80b9697eb25ffd073b36494cf207a01c8681808d

<div class="markdown_content"><p>"If I disable the SYNC producing setting in the master CANopen manager, the above observation is the same except only Asynchronous PDO data is showing on the CANbus, and the slave continues to operate."<br/> Does that mean that without SYNC, the led on the slave remains green.<br/> What is your system (Raspberry Pi or something else?)</p></div>

2022-07-06T19:57:53.148000Z2022-07-06T19:57:53.148000Zsean-bartonhttps://forge.codesys.com/u/sean-barton/https://forge.codesys.come0ff87676b6f389823a9d4551a5123dae398a6af

<div class="markdown_content"><p>There are 63 receive PDOs and 43 transmit PDOs - 106 in total. I didn't know about the window length being smaller, the default was 1000 for cycle time and 1200 for window (microseconds) - I just increased both by the same factor.</p> <p>I tried exchanging the values for cycle period and window length (microseconds) to 120000 and 100000 respectively, and enabling the SYNC but the same problem occurs.</p> <p>I have a bus load analyzer which shows the bus load no higher than 18% on startup but 0.2% on average so the bus does not appear to be overloaded.</p></div>

2022-07-06T19:30:46.291000Z2022-07-06T19:30:46.291000ZDavidBohttps://forge.codesys.com/u/davidbo/https://forge.codesys.com7ef407085e353cae09bbaca426d821910fa3cf17

<div class="markdown_content"><p>How many PDOs do you have?<br/> The Cycle period has to be larger than the Window length. If I understand it correctly the window is the period of time where the PDOs are transmitted and received. </p></div>