9.1 CAN Bus Systems Troubleshooting Guide

Introduction

Controller Area Network (CAN) is a robust vehicle bus standard designed to allow microcontrollers and devices to communicate with each other. This method is used to create satellite nodes grouped by function that can be expanded on without changing the core electronics.  

Each board has a node ID selection switch [SW2] that must be set correctly.

Devices are connected in Daisy Chain.

Each board has a termination switch [SW1] that must be set correctly.

Note: The last device on the chain needs to be terminated.

The overall CAN System sequence should be connected in the order that follows: Active Ballscrew Compensation > CAN E-Vise > Compact APL > Motion Sensor > CAN Autodoor.
Important: The CAN system at the end of the sequence will vary by machine and depends on what options the machine has. The last CAN system in the sequence should have their termination switch on the TERM setting. The only exception of this is if the Motion Sensor is the last CAN System in the sequence, this board does not have a termination switch and will need a jumper (PN: 32-1306) installed at J3 if it is the last CAN System.

Board Locations

1.  VMC CAN Spindle Head PCB

2. CAN Lube Panel PCB

3.  UMC CAN Spindle Head PCB

4. Lathe CAN Spindle Head PCB

5. CAN Autodoor 

6. CAN E-Vise

Node ID Selection

Device Node ID Factory Setting
IO Board 3 N/A
CAN Autodoor 13 (D on selector) 9013.001
CAN Electric Vise 11 (B on selector) 9011.001
CAN Lube Panel 5 9005.001
CAN Spindle Head 7 9007.001
Legacy CAN Autodoor 9 9009.001
Compact APL 15 (F on the selector) 9015.001
Active Ballscrew Compensation 20 (4 on the selector) 9020.001

Symptom Table

Symptom Possible Cause Corrective Action

ALARM / CAN CODE

BEFORE SOFTWARE 100.21.000.1100:

Alarm 9898.001: CAN NODE WARNING

CAN code [0x43]: CAN NODE WARNING

SOFTWARE 100.21.000.1100 and Later:

Alarm 9706 or (100.001): CAN NODE COMMANDED CURRENT OUT OF RANGE

CAN code [0x43]

 Outdated Firmware & Parameters Upgrade to the latest Software, Configuration files, and I/O / CAN AD Firmware.

Alarm 9701: Node ID: XX Node reported it lost communication from I/O board

CAN code [0x01]

 Old IO firmware. Load I/O firmware 4.09 or greater.
Poor connection Verify CAN Bus Connectors are fully seated and termination resistor set correctly.
Alarm 9899 IOPCB CAN FAULT and/ or Alarm 9105 IO BOARD COMMAND EXECUTION FAILURE The CAN node I/O Configuration is incorrect. Update the I/O configuration via the I/O Config tab.
The incorrect CAN node is enabled. Verify that Factory Settings 9000.001 -> 9031.001 are set correctly. Only active nodes should be enabled.
The Autodoor CAN PCB does not have power. Verify that the Low Volt Power supply is supplying power to the CAN Autodoor PCB.
The CAN node Communication cable is disconnected. Power down machine for at least a minute. Verify all CAN communication cables are connected correctly.
The CAN Module ID Selector is incorrect. Power down machine for at least a minute. Set ID selector correctly. Power up machine.
The CAN Modules have incorrect termination. Power down machine for at least a minute. Verify that only last node in the chain is terminated. Power up machine.
The CAN Node needs to be reset. Disable CAN Node via 9000.001 -> 9031.001. If the machine recovers (I/O page isn’t “X”) after disabling a particular node, try to enable the node again.
Alarm 9798: IOPCB CAN FCT CRC MISMATCH A test of the internal CRC for the Factory Config Table (FCT) located on one of the CAN devices does not match the CRC for the machines FCT. This can happen due to power failure at a critical time or after replacement of a CAN board attached to the I/O board
  1. Press [POWER OFF].
  2. Put the USB memory device into the control.

    Note: The USB memory device must contain your Haas Control Key and the correct configuration files.

  3. Press [POWER ON].
  4. Press [DIAGNOSTIC].
  5. Go to I/O Config in the Diagnostics tab.
  6. Press [F3] to Update Config Table.
  7. Press [RESET] to continue. If the alarm does not clear, cycle the machine power.

The Main CRC and the Factory CRC are now the same.

BEFORE SOFTWARE 100.21.000.1100:

Alarm 9898.001: CAN NODE WARNING

CAN code [0x43]: Invalid clamp value 

SOFTWARE 100.21.000.1100 and Later:

Alarm 9706: Invalid clamp value

CAN code [0x43]

 Outdated autodoor/Evise firmware Update the autodoor/evise to 1.06 or newer

BEFORE SOFTWARE 100.21.000.1100:

Alarm 9898.001: CAN NODE WARNING

CAN code [0x44]: Invalid voltage command

SOFTWARE 100.21.000.1100 and Later:

Alarm 9707: Invalid voltage command

CAN code [0x44]

BEFORE SOFTWARE 100.21.000.1100:

Alarm 9899.001: CAN BUS OFF ERROR

CAN code [0x44]: Invalid voltage command

SOFTWARE 100.21.000.1100 and Later:

Alarm 9700: CAN BUS OFF ERROR

 Poor connection Verify CAN Bus Connetors are fully seated and termination resistor set correctly.
Short circuit on CAN Bus

Use multimeter to diagnose short circuit:

  1. Power down machine
  2. Disconnect all nodes
  3. Reconnect nodes one at a time while measuring resistance between CAN lines and 12V and Ground on the connectors
  4. Replace the node that results in a short circuit

Note: It should be 60 ohm between CAN-H and CAN-L

BEFORE SOFTWARE 100.21.000.1100:

9899.002: CAN BUS OFF ERROR

CAN code [0x01]: Node reported it lost communication from I/O board

SOFTWARE 100.21.000.1100 and Later:

Alarm 9701: Node reported it lost communication from I/O board

CAN code [0x01]

 Old IO firmware. Load I/O firmware 4.09 or greater.
Poor connection  Verify CAN Bus Connectors are fully seated and termination resistor set correctly.

BEFORE SOFTWARE 100.21.000.1100:

9899.002: CAN BUS OFF ERROR

CAN code [0x30]: I/O board reported it lost communication from node

SOFTWARE 100.21.000.1100 and Later:

Alarm 9702: I/O board reported it lost communication from node

CAN code [0x30]

 I/O mapping missing node Verify in I/O Config tab that the node is mapped. Get the latest configuration from portal.
Incorrect node enabled Verify that Factory settings 9000.001 - 9031.001 are only set to true for the nodes that are installed in the machine.
Node ID set incorrectly on node Select correct node ID on ID selection switch. Reboot the machine.
Node lost power Use a multimeter to verify that the node has power. Replace the power supply if necessary.
Poor connection Verify that the CAN Bus Connectors are fully seated and that the termination resistor set correctly.

BEFORE SOFTWARE 100.21.000.1100:

Alarm 9899.003: CAN BUS OFF ERROR

SOFTWARE 100.21.000.1100 and Later:

Alarm 9703: CAN NODE ERROR

 Node Fatal alarm. Firmware has a non-recoverable alarm. Cycle node enable (90nn.001) or update config table in I/O page. The machine may need to be rebooted.
Alarm 9713: NODE APPLICATION CORRUPTED I/O Board has detected a CAN device with corrupted application firmware. Try updating the firmware for the affected CAN device.
Alarm 9714: NODE BOOTLOADER CORRUPTED I/O Board has detected a CAN device with corrupted bootloader firmware.
 Try updating the firmware for the affected CAN device.
ALARM 966 EXCESSIVE TOOL IMBALANCE (board accelerometer) Excessive tool vibration is generated by on board accelerometer Verify that everything is properly balanced, such as tools and spindles

Reduce sensitivity using Setting 245

  • Setting 245 = Normal: Means that parameter 856 is directly used
  • Setting 245 = Low: Means that parameter 856 is multiplied by 1.5
  • Setting 245 = Off: Alarm 966 will not be thrown. 

NOTE: Setting 245 will not persist when the power is cycled

Please refer to the  Accelerometer Troubleshooting Guide for further information
ALARM 9941 CRASH DETECTED (spindle head accelerometer)  The machine detected a crash Verify the program machine movements to make sure the machine does not crash
The Accelerometer unit, cable or spindle head CAN board is damaged
  • Verify analog inputs are not 0 (cable unplugged)
  • I/O board minimum version 4.09 (update to latest if possible)
  • Spindle head CAN board minimum 1.10 (update to latest if possible
  • Make sure to take an error report (SHIFT+F3), error reports will have information about the crash direction and magnitude in the JavaConsoleLog.txt file (refer to Crash Detection Section in the Accelerometer Troubleshooting Guide for further information)

Electrical Diagrams

CAN Bus sequence when a machine has Active Ballscrew Compensation, CAN E-Vise, Compact APL, Motion Sensor, and CAN Autodoor.

    

CAN Bus sequence when a machine has a CAN E-Vise, Compact APL, and CAN Autodoor.

   

The CAN Lube Panel and CAN Spindle Head PCB diagram with a CAN Autodoor and a CAN E-Vise

  

The CAN Lube Panel and CAN Spindle Head PCB diagram with a CAN Autodoor and without a CAN E-Vise

   

The CAN Lube Panel and CAN Spindle Head PCB diagram with a CAN E-Vise, but without a CAN Autodoor

   

The CAN Lube Panel and CAN Spindle Head PCB diagram without a CAN Autodoor or CAN E-Vise

9.2 CAN Lube Panel and Spindle Head Troubleshooting Guide

Introduction

Controller Area Network (CAN) is a robust vehicle bus standard designed to allow microcontrollers and devices to communicate with each other. This method is used to create satellite nodes grouped by function that can be expanded on without changing the core electronics.

  • Each board has a node ID selection switch [SW2] that must be set correctly.
  • Devices are connected in Daisy Chain.
  • Each board has a termination switch [SW1] that much be set correctly.

Note: The last device on the chain needs to be terminated.

Board Locations

1.  VMC CAN Spindle Head PCB

2. CAN Lube Panel PCB

3.  UMC CAN Spindle Head PCB

4. Lathe CAN Spindle Head PCB

Node ID Selection

Device Node ID Factory Setting
IO Board 3 N/A
CAN Autodoor 13 (D on selector) 9013.001
CAN Electric Vise 11 (B on selector) 9011.001
CAN Lube Panel 5 9005.001
CAN Spindle Head 7 9007.001
Legacy CAN Autodoor 9 9009.001
Compact APL 15 (F on the selector) 9015.001
Active Ballscrew Compensation 20 (4 on the selector) 9020.001

Symptom Table

Alarm / CAN code

Before Software 100.21.000.1100

Alarm / CAN code

After Software 100.21.000.1100

 Possible Cause Corrective Action

Alarm 9105: IO BOARD COMMAND EXECUTION FAILURE

The machine outputs the following alarms with this alarm:

  • 2001.003: EMERGENCY STOP SWITCH ERROR
  • 2002: OPERATOR'S PENDANT EMERGENCY STOP SWITCH ERROR
  • 120: LOW AIR PRESSURE OR FLOW

 

 Outdated main I/O firmware.

Updated the main I/O firmware to the latest version.

Refer to the Firmware Update procedure.
Alarm 9899 IOPCB CAN FAULT and/ or 9105 IO BOARD COMMAND EXECUTION FAILURE The CAN node I/O Configuration is incorrect. Update the I/O configuration via the I/O Config tab.
The incorrect CAN node is enabled. Verify that Factory Settings 9000.001 -> 9031.001 are set correctly. Only active nodes should be enabled.
The Spindle Head or Lube Panel CAN PCB does not have power. Verify that the Low Volt Power supply is supplying power to the CAN Spindle Head or Lube Panel PCB.
The CAN node Communication cable is disconnected. Power down machine for at least a minute. Verify all CAN communication cables are connected correctly.
The CAN Module ID Selector is incorrect. Power down machine for at least a minute. Set ID selector correctly. Power up machine.
The CAN Modules have incorrect termination. Power down machine for at least a minute. Verify that only last node in the chain is terminated. Power up machine.
The CAN Node needs to be reset. Disable CAN Node via 9000.001 -> 9031.001. If the machine recovers (I/O page isn’t “X”) after disabling a particular node, try to enable the node again.
Alarm 9798: IOPCB CAN FCT CRC MISMATCH A test of the internal CRC for the Factory Config Table (FCT) located on one of the CAN devices does not match the CRC for the machines FCT. This can happen due to power failure at a critical time or after replacement of a CAN board attached to the I/O board
  1. Press [POWER OFF].
  2. Put the USB memory device into the control.

    Note: The USB memory device must contain your Haas Control Key and the correct configuration files.

  3. Press [POWER ON].
  4. Press [DIAGNOSTIC].
  5. Go to I/O Config in the Diagnostics tab.
  6. Press [F3] to Update Config Table.
  7. Press [RESET] to continue. If the alarm does not clear, cycle the machine power.

The Main CRC and the Factory CRC are now the same.

 

Alarm 9898.001: CAN NODE WARNING

CAN code [0x41]: Invalid command for motor 1

Alarm 9704: Invalid command for motor 1

CAN code [0x41]

 TBD TBD

Alarm 9898.001: CAN NODE WARNING

CAN code [0x42]: Invalid command for motor 2

Alarm 9705: Invalid command for motor 2

CAN code [0x42]

 TBD TBD

Alarm 9898.001: CAN NODE WARNING

CAN code [0x43]: Invalid clamp value 

Alarm 9706: Invalid clamp value

CAN code [0x43]

 Outdated autodoor/Evise firmware Update the autodoor/evise to 1.06 or newer

Alarm 9898.001: CAN NODE WARNING

CAN code [0x44]: Invalid voltage command

Alarm 9707: Invalid voltage command

CAN code [0x44]

Alarm 9898.001: CAN NODE WARNING

CAN code [0x81]: Motor 1 shorted

or

Alarm 9898.001: CAN NODE WARNING

CAN code [0x82]: Motor 2 shorted

Alarm 9708: Motor 1 shorted

CAN code [0x81]

or

Alarm 9709: Motor 2 shorted

CAN code [0x82]

 Cable Failure Replace the motor cable.
Board Failure Replace the Autodoor/Evise board. 
Motor Failure Replace the motor.
Alarm 9899.001: CAN BUS OFF ERROR Alarm 9700: CAN BUS OFF ERROR Poor connection Verify CAN Bus Connetors are fully seated and termination resistor set correctly.
Short circuit on CAN Bus

Use multimeter to diagnose short circuit:

  1. Power down machine
  2. Disconnect all nodes
  3. Reconnect nodes one at a time while measuring resistance between CAN lines and 12V and Ground on the connectors
  4. Replace the node that results in a short circuit

Note: It should be 60 ohm between CAN-H and CAN-L

Alarm 9899.002: CAN BUS OFF ERROR

CAN code [0x01]: Node reported it lost communication from I/O board

Alarm 9701: Node reported it lost communication from I/O board

CAN code [0x01]

 Old IO firmware. Load I/O firmware 4.09 or greater.
Poor connection  Verify CAN Bus Connectors are fully seated and termination resistor set correctly.
 

Alarm 9899.002: CAN BUS OFF ERROR

CAN code [0x30]: I/O board reported it lost communication from node

Alarm 9702: I/O board reported it lost communication from node

CAN code [0x30]

 I/O mapping missing node Verify in I/O Config tab that the node is mapped. Get the latest configuration from portal.
Incorrect node enabled Verify that Factory settings 9000.001 - 9031.001 are only set to true for the nodes that are installed in the machine.
Node ID set incorrectly on node Select correct node ID on ID selection switch. Reboot the machine.
Node lost power Use a multimeter to verify that the node has power. Replace the power supply if necessary.
Poor connection Verify that the CAN Bus Connectors are fully seated and that the termination resistor set correctly.
Alarm 9899.003: CAN BUS OFF ERROR Alarm 9703: CAN BUS OFF ERROR Node Fatal alarm. Firmware has a non-recoverable alarm. Cycle node enable (90nn.001) or update config table in I/O page. The machine may need to be rebooted.

Alarm 9898.001: CAN NODE WARNING

unrecognized CAN code

Alarm 9712: CAN NODE WARNING

unrecognized CAN code

 TBD TBD

Alarm 9899.002: CAN BUS OFF ERROR

unrecognized CAN code

Alarm 9711: CAN BUS OFF ERROR

unrecognized CAN code

 TBD TBD

Spindle Head & Lube Panel PCB Status LEDs

Spindle Head Status LED Locations

Lube Panel Satus LED Locations

PCB State Mode

Red LED

Green LED
Bootloader N/A

Off

On
Application Deactive (Node Disabled)

Off

Blinking 1 Hz
Active (Node Enabled)

Off

Blinking 2-5 Hz
Safe Mode

Blinking 2-5 Hz

Off
Dead Node

On

On

CAN Spindle Head & Lube Panel Troubleshooting

1

Problem: Machines with SW Version 100.21.000.1003 and earlier: Alarm 9899.002: Node ID: XX [0x30] IOPCB CAN FAULT or other 9899 CAN Bus alarms.

Machines with SW Version 100.21.000.1100 and later: Alarm 9702: I/O board reported it lost communication from node CAN code [0x30] or other CAN Bus alarms.

After cycle powering the machine, alarm 9105 IO BOARD COMMAND EXECUTION FAILURE is generated and other I/O & CAN alarms. Analog sensors all read zero.

Cause: Communication between the IO PCB and CAN bus PCB was lost. This can be caused by a communication interruption or because the CAN bus PCB or the CAN power supply has failed.

2

Update software, IO Firmware, and all CAN devices displayed that can be updated to the latest. If the node is damaged or disconnected it may not display on the list of nodes. All nodes are displayed on the Firmware Updates page[1]. The Spindle Head node is missing from the page[2], indicating that there may be an issue with that node.

After cycle powering with the E-Stop pressed, press reset to restore I/O PCB. Note any CAN or I/O alarms after pressing reset.

3

Navigate to the CAN Bus Diagnostic page. This requires a service key. Note the status of each node, do the faulted nodes correspond to the node displayed in the CAN alarm. Press F4 to Run Diagnostics.

If a single node at the end of the chain or in the middle of the chain is in a fault state, troubleshoot that PCB.

If two or more nodes are faulted, troubleshoot the first faulted node in the chain closest to the I/O PCB then move to the last.

4

Access the PCB and check the status lights. Spindle Head PCB LED location[1]. Lube Panel PCB LED location[2].

PCB State

Mode

Red LED

Green LED

Bootloader

N/A

Off

On

Application

Deactive (Node Disabled) - Fault State

Off

Blinking 1 Hz

Active (Node Enabled) - Normal State

Off

Blinking 2-5 Hz

Safe Mode - Fault State

Blinking 2-5 Hz

Off

Dead Node -  Fault State

On

On
Spindle Head & Lube Panel PCB Status LEDs

5

If the Status LEDs are in a fault state, check the node ID selector and termination. If incorrect, power down the machine and change the node ID selector to the correct node ID and set the termination based on the machine configuration and the CAN devices installed on the machine.

With the machine powered down inspect the cables and disconnect and reconnect cables and CAN Bus couplers.

Power up the machine and check the CAN Bus page and press F4 to Run Diagnostics.

If the faulted nodes are the E-Vise or Auto Door, disable the node and verify that alarms clear.

Warning: Do not disable the Spindle Head or Lube Panel and run the machine. Damage or injury can occur.

Electrical Diagrams

The CAN Lube Panel and CAN Spindle Head PCB diagram with a CAN Autodoor and a CAN E-Vise

  

The CAN Lube Panel and CAN Spindle Head PCB diagram with a CAN Autodoor and without a CAN E-Vise

   

The CAN Lube Panel and CAN Spindle Head PCB diagram with a CAN E-Vise, but without a CAN Autodoor

   

The CAN Lube Panel and CAN Spindle Head PCB diagram without a CAN Autodoor or CAN E-Vise

9.3 Compact APL Troubleshooting Guide

Introduction

Controller Area Network (CAN) is a robust vehicle bus standard designed to allow microcontrollers and devices to communicate with each other. This method is used to create satellite nodes grouped by function that can be expanded on without changing the core electronics.

  • Each board has a node ID selection switch [SW2] that must be set correctly.
  • Devices are connected in Daisy Chain.
  • Each board has a termination switch [SW1] that much be set correctly.

Note: The last device on the chain needs to be terminated.

Node ID Selection

Device Node ID Factory Setting
IO Board 3 N/A
CAN Autodoor 13 (D on selector) 9013.001
CAN Electric Vise 11 (B on selector) 9011.001
CAN Lube Panel 5 9005.001
CAN Spindle Head 7 9007.001
Legacy CAN Autodoor 9 9009.001
Compact APL 15 (F on the selector) 9015.001
Active Ballscrew Compensation 20 (4 on the selector) 9020.001

Symptom Table

Alarm / CAN code

 Possible Cause Corrective Action

Alarm 9105: IO BOARD COMMAND EXECUTION FAILURE

The machine outputs the following alarms with this alarm:

  • 2001.003: EMERGENCY STOP SWITCH ERROR
  • 2002: OPERATOR'S PENDANT EMERGENCY STOP SWITCH ERROR
  • 120: LOW AIR PRESSURE OR FLOW
 Outdated main I/O firmware.

Updated the main I/O firmware to the latest version.

Refer to the Firmware Update procedure.
Alarm 17.9920/18.9920: POSITION ERROR TOO LARGE Electrical connections to the C-APL AV or AU servo amplifiers may be swapped.
 Reference the C-APL electrical schematic below.
Alarm 9899: IOPCB CAN FAULT and/ or 9105: IO BOARD COMMAND EXECUTION FAILURE The CAN node I/O Configuration is incorrect. Update the I/O configuration via the I/O Config tab.
The incorrect CAN node is enabled. Verify that Factory Settings 9000.001 -> 9031.001 are set correctly. Only active nodes should be enabled.
The CAN PCB does not have power. Verify that the Low Volt Power supply is supplying power to the CAN PCB.
The CAN node Communication cable is disconnected. Power down machine for at least a minute. Verify all CAN communication cables are connected correctly.
The CAN Module ID Selector is incorrect. Power down machine for at least a minute. Set ID selector correctly. Power up machine.
The CAN Modules have incorrect termination. Power down machine for at least a minute. Verify that only last node in the chain is terminated. Power up machine.
The CAN Node needs to be reset. Disable CAN Node via 9000.001 -> 9031.001. If the machine recovers (I/O page isn’t “X”) after disabling a particular node, try to enable the node again.
Alarm 9798: IOPCB CAN FCT CRC MISMATCH A test of the internal CRC for the Factory Config Table (FCT) located on one of the CAN devices does not match the CRC for the machines FCT. This can happen due to power failure at a critical time or after replacement of a CAN board attached to the I/O board
  1. Press [POWER OFF].
  2. Put the USB memory device into the control.

    Note: The USB memory device must contain your Haas Control Key and the correct configuration files.

  3. Press [POWER ON].
  4. Press [DIAGNOSTIC].
  5. Go to I/O Config in the Diagnostics tab.
  6. Press [F3] to Update Config Table.
  7. Press [RESET] to continue. If the alarm does not clear, cycle the machine power.

The Main CRC and the Factory CRC are now the same.

 

Alarm 9704: CAN NODE INVALID COMMAND FOR MOTOR 1

CAN code [0x41]

 Motor was commanded on in both directions simultaneously. If using Macro programming, verify G-Code is not turning on both outputs.

Alarm 9706: CAN NODE COMMANDED CURRENT OUT OF RANGE

CAN code [0x43]

 Outdated CAN Board firmware. Update the CAN Board latest CAN firmware.

Alarm 9707: CAN NODE INVALID MAX VOLTAGE

CAN code [0x44]

Alarm 9708: CAN NODE MOTOR 1 SHORT DETECTED

CAN code [0x81]

 Cable Failure Replace the motor cable.
Board Failure Replace the Autodoor/Evise board. 
Motor Failure Replace the motor.
Alarm 9700: CAN BUS OFF ERROR Poor connection Verify CAN Bus Connetors are fully seated and termination resistor set correctly.
Short circuit on CAN Bus

Use multimeter to diagnose short circuit:

  1. Power down machine
  2. Disconnect all nodes
  3. Reconnect nodes one at a time while measuring resistance between CAN lines and 12V and Ground on the connectors
  4. Replace the node that results in a short circuit

Note: It should be 60 ohm between CAN-H and CAN-L

Alarm 9701: CAN NODE LOST COMMUNICATION WITH IO

CAN code [0x01]

 Old IO firmware. Load I/O firmware 4.09 or greater.
Poor connection  Verify CAN Bus Connectors are fully seated and termination resistor set correctly.
Alarm 9702: IO LOST COMMUNICATION WITH CAN NODE

CAN code [0x30]

 I/O mapping missing node Verify in I/O Config tab that the node is mapped. Get the latest configuration from portal.
Incorrect node enabled Verify that Factory settings 9000.001 - 9031.001 are only set to true for the nodes that are installed in the machine.
Node ID set incorrectly on node Select correct node ID on ID selection switch. Reboot the machine.
Node lost power Use a multimeter to verify that the node has power. Replace the power supply if necessary.
Poor connection Verify that the CAN Bus Connectors are fully seated and that the termination resistor set correctly.

Alarm 9703: INTERNAL FAULT
 		 Node Fatal alarm. Firmware has a non-recoverable alarm. Cycle node enable (90nn.001) or update config table in I/O page. The machine may need to be rebooted.
When trying to run the machine a yellow warning message appears saying "Please activate Light Curtain or Cell Safe". The correct safety parameter kit has not been applied to the machine. Order the corresponding Front Automation Safety or Side Automation Safety kits (93-1000997 or 93-1000996) and re-upload the configuration files from HBC.

Electrical Diagrams

Compact APL Electrical Schematic

   

CAN Bus sequence when a machine has a CAN E-Vise, Compact APL, and CAN Autodoor.

      

CAN Bus sequence when a machine has Active Ballscrew Compensation, CAN E-Vise, Compact APL, Motion Sensor, and CAN Autodoor.

9.4 Autodoor

Autodoor - Service Manual

Click on the image below to take you to the Autodoor - Service Manual

9.5 Active Ballscrew Compensation Troubleshooting Guide

Introduction

Controller Area Network (CAN) is a robust vehicle bus standard designed to allow microcontrollers and devices to communicate with each other. This method is used to create satellite nodes grouped by function that can be expanded on without changing the core electronics.  

Each board has a node ID selection switch [SW2] that must be set correctly.

Devices are connected in Daisy Chain.

Each board has a termination switch [SW1] that much be set correctly.

Note: The last device on the chain needs to be terminated.

Overview

The Active Ballscrew Compensation is made up of:

  1. Linear Gauge Sensor - The sensor assembly is installed at the end of the ballscrew.
  2. CAN Node Box - CAN node box that feeds the information from the sensor to the CAN hub board.
  3. Linear Gauge Hub Board -CAN board the sends feedback info from the sensor to the IO board.

Each Axis will have its own Linear Gauge Sensor [1] and CAN Node Box [2] that will connect to the CAN Hub Board [3]. 

The cables coming from each of the axis' CAN Node Box will connect to the following ports on the CAN Hub Board:

  • X-Axis: Sensor 1 Port
  • Y-Axis: Sensor 2 Port
  • Z-Axis: Sensor 3 Port

At this time Active Ballscrew Compensation is an option on the following machines and their variants:

  • VF-6/7/8/9/10/11/12/14
  • VR-8/9/11/14
  • VM-6

Node ID Selection

Device Node ID Factory Setting
IO Board 3 N/A
CAN Autodoor 13 (D on selector) 9013.001
CAN Electric Vise 11 (B on selector) 9011.001
CAN Lube Panel 5 9005.001
CAN Spindle Head 7 9007.001
Legacy CAN Autodoor 9 9009.001
Compact APL 15 (F on the selector) 9015.001
Active Ballscrew Compensation 20 (4 on the selector) 9020.001

Symptom Table

Alarm / CAN code

 Possible Cause Corrective Action
Cannot upgrade the CAN board firmware. The I/O board has a firmware version earlier than 4.24. Upgrade the I/O firmware to 4.24 or higher. Try upgrading the CAN board firmware after the I/O firmware is upgraded.
Alarm 9417: LINEAR SENSOR FAULT DETECTED Invalid reading from linear sensor has been detected. The sensor may be disconnected. Verify all hardware connections are secure and correct Refer to the Overview section above for all the components in the system, the wiring diagram can be found below for where it lies within the CAN system.

Alarm 9105: IO BOARD COMMAND EXECUTION FAILURE

The machine outputs the following alarms with this alarm:

  • 2001.003: EMERGENCY STOP SWITCH ERROR
  • 2002: OPERATOR'S PENDANT EMERGENCY STOP SWITCH ERROR
  • 120: LOW AIR PRESSURE OR FLOW
 Outdated main I/O firmware.

Updated the main I/O firmware to the latest version.

Refer to the Firmware Update procedure.
Alarm 9899: IOPCB CAN FAULT and/ or 9105: IO BOARD COMMAND EXECUTION FAILURE The CAN node I/O Configuration is incorrect. Update the I/O configuration via the I/O Config tab.
The incorrect CAN node is enabled. Verify that Factory Settings 9000.001 -> 9031.001 are set correctly. Only active nodes should be enabled.
The CAN node Communication cable is disconnected. Power down the machine for at least a minute. Verify all CAN communication cables are connected correctly.
The CAN Module ID Selector is incorrect. Power down the machine for at least a minute. Set ID selector correctly. Power up machine.
The CAN Modules have incorrect termination. Power down the machine for at least a minute. Verify that only the last node in the chain is terminated. Power up machine.
The CAN Node needs to be reset. Disable CAN Node via 9000.001 -> 9031.001. If the machine recovers (I/O page is not “X”) after disabling a particular node, try to enable the node again.
Alarm 9798: IOPCB CAN FCT CRC MISMATCH A test of the internal CRC for the Factory Config Table (FCT) located on one of the CAN devices does not match the CRC for the machines FCT. This can happen due to power failure at a critical time or after replacement of a CAN board attached to the I/O board
  1. Press [POWER OFF].
  2. Put the USB memory device into the control.

    Note: The USB memory device must contain your Haas Control Key and the correct configuration files.

  3. Press [POWER ON].
  4. Press [DIAGNOSTIC].
  5. Go to I/O Config in the Diagnostics tab.
  6. Press [F3] to Update Config Table.
  7. Press [RESET] to continue. If the alarm does not clear, cycle the machine power.

The Main CRC and the Factory CRC are now the same.

 

Alarm 9701: CAN NODE LOST COMMUNICATION WITH IO

CAN code [0x01]

 Old IO firmware. Load I/O firmware 4.09 or greater.
Poor connection  Verify CAN Bus Connectors are fully seated, and termination resistor set correctly.
Alarm 9702: IO LOST COMMUNICATION WITH CAN NODE

CAN code [0x30]

 I/O mapping missing node Verify in I/O Config tab that the node is mapped. Get the latest configuration from portal.
Incorrect node enabled Verify that Factory settings 9000.001 - 9031.001 are only set to true for the nodes that are installed in the machine.
Node ID set incorrectly on node Select correct node ID on ID selection switch. Reboot the machine.
Poor connection Verify that the CAN Bus Connectors are fully seated, and that the termination resistor set correctly.

Alarm 9703: CAN NODE ERROR
 		 Node Fatal alarm. Firmware has a non-recoverable alarm. Cycle node enable (90nn.001) or update config table in I/O page. The machine may need to be rebooted.

Alarm 9737.00X: Linear Sensor Error

Sub-codes:
.001 = X-Axis
.002 = Y-Axis
.003 = Z-Axis

 The sensor node has lost communication with the linear sensor. This may be due to a faulty sensor or loose connection to the Node.

1. Verify the cable connection of the linear sensor to the node.

2. Under the diagnostics tab, navigate to the I/O page, and check the analog input for the axis generating the alarm.

  • A-Input 27 = X-axis
  • A-Input 28 = Y-axis
  • A-Input 31 = Z-axis

3. If possible, apply pressure to the switch by hand to see if the analog value increases as the switch is pushed in. Verify the input is not constantly 0.

4. Also verify that the input is not fluctuating when a constant/no pressure is applied to the switch. 

Wiring Diagram

CAN Bus sequence when a machine has a Ballscrew Linear Sensor, CAN E-Vise, Compact APL, and CAN Autodoor.

     

CAN Bus sequence when a machine has Active Ballscrew Compensation, CAN E-Vise, Compact APL, Motion Sensor, and CAN Autodoor.