CAN sync telegram transfer error

What does P16 mean?

The sync telegram from the master (PLC) is out of sync cycle or not received, indicating a communication issue. This can also occur if the controller is enabled too fast, before the sync telegrams are stable.

• Faulty CAN bus wiring (e.g., broken conductor, incorrect termination resistors (120 Ohm), reversed CAN_H/CAN_L lines) preventing reliable telegram reception.
• CAN bus master (PLC) not transmitting sync telegrams or transmitting them irregularly/too slowly.
• CAN bus baud rate mismatch between the drive (e.g., C0240) and the CAN master.
• Excessive noise or reflections on the CAN bus due to poor shielding or long cable runs without proper impedance matching.
• Drive enabled too quickly after power-up, before the CAN master has established communication and started sending sync telegrams.

Click steps to track your progress.

1. 1

   Verify CAN bus wiring integrity: check for continuity on CAN_H (X1.7) and CAN_L (X1.6), ensure correct polarity, and confirm 120 Ohm termination resistors at both ends of the bus.

2. 2

   Check the CAN bus baud rate setting (C0240) in the drive and ensure it matches the setting on the CAN master (PLC).

3. 3

   Monitor CAN bus traffic using a CAN bus analyzer to verify that sync telegrams are being transmitted by the master at the expected interval.

4. 4

   Ensure the drive's operational enable command (e.g., via digital input or CAN status word) is delayed until after the CAN master has established full communication and started sync messages.

5. 5

   Inspect the CAN bus cable for physical damage, proper shielding (connected to PE), and separation from power cables to reduce EMI.