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SOFTWARE 100.21.000.1100 and Later: Alarm 9706 or (100.001): CAN NODE COMMANDED CURRENT OUT OF RANGE CAN code [0x43]	Outdated Firmware & Parameters	Upgrade to the latest Software, Configuration files, and I/O / CAN AD Firmware.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	Press [POWER OFF]. Put the USB memory device into the control. Note: The USB memory device must contain your Haas Control Key and the correct configuration files. Press [POWER ON]. Press [DIAGNOSTIC]. Go to I/O Config in the Diagnostics tab. Press [F3] to Update Config Table. 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]	Outdated autodoor/Evise firmware	Update the autodoor/evise to 1.06 or newer
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: Power down machine Disconnect all nodes Reconnect nodes one at a time while measuring resistance between CAN lines and 12V and Ground on the connectors 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
ALARM 9941 CRASH DETECTED (spindle head accelerometer)	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