Hi,

We have been working for almost 2 years with Beagleboneblack in industrial environments for motion control with great results.
We are going to use other boards along with the BBB ones for our projects.

We are now developing new projects with the Pigeon RB300 board (Raspberry Computer Module) but we stumbled on the CAN Bus Failure.

The can0 interface is working properly since i can send/receive frames on the bus through the cansend/candump commands.
The Codesys Log reports this error: 'cannot execute ./rts_set_baud.sh - can0 will not work' (see attached pictures).
I followed the steps in this old post : https://forum.codesys.com/viewtopic.php?f=21&t=5611&start=30
I created and saved this file in /root, / and /home/pi but codesys seems not finding it. The file has all permissions (+rwx for all users).
Even if i set the baud by hand through

sudo ip link set can0 up type can bitrate 125000
sudo ifconfig can0 up

I always get can bus failure.

Thank you.

Modify the CODESYS configuration file /etc/CODESYScontrol_User.cfg:

[SysCom]
;Linux.Devicefile=/dev/ttyS
[CmpBlkDrvCom]
;Com.0.Name=MyCom
;Com.0.Baudrate=115200
;Com.0.Port=3
;Com.0.EnableAutoAddressing=1
[CmpSocketCanDrv]
ScriptPath=/opt/codesys/scripts/
ScriptName=rts_set_baud.sh
[SysProcess]
Command.0=shutdown
[CmpApp]
Bootproject.RetainMismatch.Init=1
Application.1=PIGEON_CANmaster

add the bash script /opt/codesys/scripts/rts_set_baud.sh

\#!/bin/sh
BITRATE=`expr $2 \\* 1000`
ifconfig $1 down
echo ip link set $1 type can bitrate $BITRATE
ip link set $1 type can bitrate $BITRATE
ifconfig $1 up

then modify the permissions:

sudo chmod +x /opt/codesys/scripts/rts_set_baud.sh

Thank you very much Kristech,

It's working like a charm now.

Worked for me as well Kristech for the Pcan USB adapter

Hi. I try to do the same as GiorgioT ; and i have the same problem !

So :
Hardware :
Pigeon RB350 (the CanOpen master) + Step by step IGUS D1 card (the CanOpen slave)

Software :
Codesys V3.5 SP14 64 bits

Conf :
"/etc/CODESYScontrol_User.cfg" and "/opt/codesys/scripts/rts_set_baud.sh" are exactly the same as KRISTECH description

The can0 interface is working properly since i can send/receive frames on the bus through the cansend/candump commands. Like GiorgioT.

Please do someone know, what is missing ?

Is there a tutorial step by step to use canopen in codesys with raspberry compute ?

Thank you