CANopen转CAN常见10个问题及解决方法

1.设备上电后无数据通信
1. No data communication after the device is powered on

检查电源电压是否匹配（通常9–36V），确认CANopen与CAN端终端电阻（120Ω）已接，总线无短路断路；重新上电复位，观察设备指示灯状态。
Check if the power supply voltage matches (usually 9-36V), confirm that the CANopen and CAN terminal resistors (120 Ω) are connected, and there is no short circuit or open circuit on the bus; Re power on and reset, observe the status of the device indicator lights.

2.CANopen端能通信，CAN端无数据
2. The CANopen end can communicate, but there is no data on the CAN end

确认转换模式（网关/透传）设置正确，检查CANopen节点ID、波特率、对象字典映射是否配置；重启设备使配置生效。
Confirm that the conversion mode (gateway/transparent transmission) is set correctly, and check if the CANopen node ID, baud rate, and object dictionary mapping are configured; Restart the device to make the configuration effective.

3.CAN端有数据，CANopen端收不到
3. There is data on the CAN end, but the CANopen end cannot receive it

核对PDO映射、COB‑ID与通信周期，确保发送端数据长度匹配；检查CANopen从站状态是否进入Operational，而非Pre‑operational。
Check PDO mapping, COB-ID, and communication cycle to ensure that the data length at the sender matches; Check if the CANopen slave status has entered Operational instead of Pre Operational.

4.总线报错、丢包、数据错乱
4. Bus errors, packet loss, and data confusion

优先统一两端波特率，CAN与CANopen必须一致；减少总线分支与干扰，走线远离强电，增加屏蔽接地。
Priority should be given to unifying the baud rates at both ends, and CAN and CANopen must be consistent; Reduce bus branching and interference, keep wiring away from strong electricity, and increase shielding grounding.

5.节点ID冲突无法通信
5. Node ID conflict prevents communication

修改设备拨码或软件配置，保证总线上每个CANopen设备ID唯一；重新搜索节点，清除冲突记录。
Modify device dialing or software configuration to ensure that each CANopen device ID on the bus is unique; Search for nodes again and clear conflict records.

6.NMT启动失败，无法进入运行状态
6. NMT failed to start and cannot enter the running state

检查主站NMT指令发送，确认从站无紧急报文；排查供电不稳、总线干扰或硬件故障，复位后重新配置。
Check the NMT command sent by the master station and confirm that there are no emergency messages from the slave station; Check for unstable power supply, bus interference, or hardware faults, reset and reconfigure.

7.数据长度不匹配（DLC错误）
7. Data length mismatch (DLC error)

统一收发端数据长度，CANopen PDO与CAN帧DLC保持一致；修改映射长度，避免超长或短帧导致丢弃。
Unify the length of data between the sender and receiver, and keep the CANopen PDO consistent with the CAN frame DLC; Modify the mapping length to avoid discarding frames that are too long or too short.

8.转换延迟大，实时性差
8. High conversion delay and poor real-time performance

关闭不必要的心跳、同步报文，缩短PDO发送周期；减少总线上节点数量，降低总线负载率。
Turn off unnecessary heartbeats, synchronize messages, and shorten the PDO sending cycle; Reduce the number of nodes on the bus and lower the bus load rate.

9.上电配置丢失，需重新设置
9. Power on configuration is lost and needs to be reset

配置完成后执行保存到Flash操作，避免断电丢失参数；检查是否有拨码开关覆盖软件配置。
After the configuration is completed, execute the save to Flash operation to avoid losing parameters due to power failure; Check if there is a dip switch covering the software configuration.

10.硬件指示灯异常、不亮或常红
10. Hardware indicator light is abnormal, not on, or constantly red

检查供电、接线顺序（CAN_H/CAN_L不要接反）；替换终端电阻或测试设备，排除芯片损坏、总线静电击穿问题。
Check the power supply and wiring sequence (do not connect CAN_S/CAN_L in reverse); Replace terminal resistors or testing equipment to eliminate chip damage and bus static breakdown issues.

如果您的项目中有CANopen转CAN需求，可以加微信13019325660或前往沈阳广成科技官网进行具体咨询，欢迎来访。
If you have CANopen to CAN conversion requirements in your project, you can add WeChat 13019325660 or visit the official website of Shenyang Guangcheng Technology for specific consultation. Welcome to visit.