Cannot get SBLM2360T to Idle w/o Roborun

3 months 3 weeks ago - 3 months 3 weeks ago #29535200 by PDP
Hello;
With Roborun+ connected via USB, I can send commands over CAN from an Arduino, put the controller into open loop mode, reset the position counter, switch to closed loop mode, move to a position, etc., forward and backwards. Quite nice.
However, when Roborun+ is not connected upon controller power up, the status light is red flashing off, "Power stage off".
CAN Mode is CANOpen, CANOpen Autostart is Enabled, and DS402 FSA is Enabled. 
When I send 0x6040 or 0x6041, I get back values like 0x250, 0x650, both of which indicate that RTSO (Ready To Switch On) is false. I thought, from the FSA transition diagram and table, that the FSA would execute Transition 0 and 1 automatically with power. The fact that the controller is reporting RTSO false and the "Power stage off" LED indicator, leads me to believe that simply providing power to the controller through the main power supply and backup power through the IO pins is insufficient.
There is backup controller power applied through IO pins 1 and 14 and Roborun+ reports the controller is getting 13.8 vdc (minimum required is 10). No faults are reported.
Once again, there is something that I am sure I have simply over looked and would be most grateful for some direction so that the controller powers on correctly and is ready to receive CAN commands.
Thanks so very much for your time and assistance,
pdp

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3 months 2 weeks ago #29535203 by PDP
Update: I've tested the same CAN program running on Arduino with two different SBLM2360T controllers and get rather different results. I've even taken the controller configuration, saved it to disk, and loaded it into the controllers to ensure I have the exact same values configured in both controllers. One of the controllers (#2) boots up into Ready Mode and the other (#3) does not. 
Research is continuing.
I did finally think to check the firmware version.
#2 is running V2.01 SBLM2XXX 11/14/2019
#3 is running V2.0a SBLM2XXX 04/03/2020
Time to check for new firmware :-D 

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3 months 2 weeks ago #29535207 by PDP
Update & Resolution: Restoring MCU #3 to the latest official release resolved the issue. 

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