How to troubleshoot b400 fault in LXM32A servo drive.

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Below are some of the recommendations for troubleshooting the b400 fault, which is related to the CANopen: NMT reset with power stage enabled

a) On CANopen_Performance do not enable the Sync Producing because if you enable the Sync Producing all the Sycn PDO will be exchanged following the SYNC signal and if you are having larger sized PDO then there will be error on CAN message exchange.

b) Enable the heartbeat producing on all the CANOpen Node with default Prodducer Time of 200 ms. Which is the error checking method for all the node connected on CANOpen and notified to CAN Manager( CPU).