| Version 1 (modified by bz, 8 years ago) (diff) |
|---|
Understanding the CANbus
The WAM's control PC uses a Peak CAN card to communicate with each motor controller over a two-wire differential CAN communications bus. This is the same technology used in many cars to connect various sensors and actuators to the vehicle's central computer. As a differential signal, it is very robust to electrical noise. And its dominant/recessive bit transmission scheme coupled with its priority-based message framing structure ensures that there is no cost penalty to message collisions between two or more nodes.
For external WAM PCs:
- Make sure that the CANbus cable is plugged into the correct port on the PC
- Make sure that the CANbus cable is plugged into the correct port on the WAM
- Make sure the CANbus card is properly seated in its PCI slot
CAN driver software:
- Make sure the CAN driver is installed and loaded correctly: dmesg |grep –i pcan, cat /proc/pcan, lsmod
- Check for IRQ conflicts
Wiring issues:
- Check for a broken CANbus or power wire, usually in a connector or at the safety puck.
- Check for a loose CANbus or power crimp in the connectors.
- Make sure that the CANbus cable is properly terminated- there is a wrist or blank outer link attached.
