Bosch SR60HT Rho 3 Can fault

[Davros]

Hi All, I have an intermittent problem on my Bosch RHO 3 controller. The robot is a 4 axis SR60 High Torque robot.
The machine may run OK for several hours and then faults.

Fault is on all axes.
Fault nr 384 [axis 1], 385 [axis 2], 386  [axis 3], 387  [axis 4]
In fault book this is "'Can no sync - telgr"; Cause "No synchronization telegrams are received during a communication cycle". However the book gives no 'correction' or fix !

The fault has started to happen since we increased the weight on the gripper from about 4 kg to 5.5 kg. However I'm not sure if this is a coincidence. The fault which comes is a CAN fault, not a fault related to excess motor load.

If anyone has any tips or knows more about CAN synchronization, then that would be really appreciated. We are currently just changing parts in the hope that it gets fixed !

Regards
Tom

 

[Davros]

We changed machine parameter P5 "can bus cycle time" from 15ms to 22ms and this seems to have fixed the problem.