Service Home CAN Bus Systems - Troubleshooting Guide
Last updated: 04/18/2022

CAN Bus Systems - Troubleshooting Guide

CAN Bus Systems - Troubleshooting Guide

6.1 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 much be set correctly.

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

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 Outdated Firmware & Parameters Upgrade to the latest Software, Configuration files, and I/O / CAN AD Firmware.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

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

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

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