Dear B&R Community,
We are experiencing an unusual issue with a Nanotec CL3 module (Node-ID 19) in a machine that uses a B&R CANopen Master. The machine takes approximately 1 minute and 30 seconds longer to reach the RUN state when the CL3 module is connected to the CANopen network. Without the CL3 module, this delay does not occur, and the system starts as expected.
Observed Behavior
- Boot-Up:
- The CL3 module sends the Boot-Up message correctly after powering on.
- The B&R Master sends an NMT Start command (0x01) to transition all nodes to the Operational state.
- Issue:
- While other nodes transition to Operational as expected, the CL3 module remains in Pre-Operational for a prolonged time.
- Occasionally, the module transitions to Operational after a repeated NMT Start command, but this behavior is inconsistent.
- Additional Findings:
- EMCY messages such as “Life guard error or heartbeat error” are observed in the CAN trace.
- After the error occurs, a reset (“Error reset or no error”) is logged, and the module resumes operation, but the delay persists.
Configuration Details
- B&R Master: Standard-compliant CANopen settings (CiA 301).
- Baudrate: 500 kbit/s.
- CL3 Firmware Version: FIR-v19 39-B697429.
- Heartbeat Monitoring: Enabled, using standard settings.
Steps Taken
- We’ve reviewed the EDS file of the CL3 module, but no specific issues were identified.
- The NMT Startup (1F80h) parameter on the CL3 is set to
0x00
(default), requiring an explicit NMT Start command to transition into Operational. - The Error Behavior (1029h) configuration was also analyzed, and both Subindex 01h and 02h are at their default settings (
0x00
).
Questions for the Community
- Has anyone experienced similar behavior with a CL3 module or other devices in a B&R CANopen setup?
- Could there be specific compatibility issues or timing problems between the CL3 module and the B&R Master?
- Are there recommended adjustments to the B&R Master configuration or the CL3 module settings to resolve this issue?
Additional Information
I have attached the following supporting materials:
- Screenshots of the CAN trace taken using Vector CANalyzer, which show the observed delays.
- A screenshot from the B&R Logger on start up
These materials should provide further context for understanding the issue.
Thank you in advance for your insights! Any suggestions or experiences would be greatly appreciated.
Best regards,
Andreas Sporer