|
Re: Talon SRX CAN Daisy-Chain Wiring
If you CAN bus is suffering from reflections, the following can occur...
-DS will show Rx and Tx CAN errors intermittently. (Section 15 in Talon SRX Software Reference Manual).
-CAN bus utilization will be higher than normal. Since CAN error frames eat up bus time just like everything else, you'll notice the CAN utilization go up. This is helpful if you're in the happen of checking it every once in a while and knowing what is normal (kinda like gas-mileage in a car). This is also in section 15 of software ref manual.
-All CAN nodes will blip red intermittently during normal use. Basically the same symptom as Section 16.4. Both common-id talons and bad signal reflection can cause frames to have bad overshoots/undershoots, causing frame CRC checks to fail which causes CAN devices to transmit error frames, which you will see when the Talons/PDP/PCMs blip red during normal use.
One way to reproduce a similar symptom (just to see what the red blip looks like) is to deliberately leave a couple common-ID talons on your can bus. Then power up your robot (leave disabled). All your talons will rail-road orange (healthy CAN bus and disabled). Now sit and watch the Talons for a minute or so. They will blip red every once in a while when the two common Talons inevitably steps on each other's arbid.
|