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In productionProintermediateCAN termination

CAN fails only at full cable length

Restore signal integrity without reducing bitrate as a workaround.

Pairs with Serial and CAN fundamentals in Hardware Integration & CANopen. Read the concept first, then diagnose it here.

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Operator report

A bench cable works, but the 18 m robot harness produces intermittent error frames.

Ubuntu 24.04, ROS 2 Jazzy, SocketCAN vcan, CANopen drive simulator, ros2_control

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01CAN differential pair→
  2. 02line termination→
  3. 03receiver samplingOUT
02

How this lab works

You diagnose it. No command list.

Open the repair workspace and gather your own evidence in a real terminal. No diagnostic commands are handed to you - finding the fault is the exercise. Stuck? Progressive hints unlock inside the workspace.

03

Verification

Pass more than the visible symptom.

4 checks
  • Resistance near 60 ohm
  • Zero error frames at full length
  • Hidden regression behavior
  • Root cause explanation