How to judge if it is a communication or programming problem.

Scenario1, If you see SR658, SR659 error and alarm 180/185, then it could be CAN-bus communication issue.

Scenario2, If you see SR658, SR659 error without alarm 180/185 from drive, then it could be Multi-use CAN-BUS API. Such as COPRW.

When using all the functions of CAN(exclude the COPRW), user doesn’t need to consider multi-use the same functions. Only the COPRW, this function will depend on user’s programing flow.

The CAN-bus communication for CAN API(such as INITC, DDRVIC, DDRVAC, etc) are all handled by the base layer on PLC except COPRW is used on SDO transmission(base on DS301).

For using DS301 in CAN-bus, we just have to avoid this situation because we don’t know how user codes their program(how many SDO they use at the same time).

Hence, there is a remark on AS PLC manual.