Quote:
Originally Posted by virtuald
We seem to be having the same problem -- but it only seems to happen occasionally, and usually when the robot is actually doing something.
We have a terminator, and we even replaced the one that we have. We also tried replacing some of our CAN cables, but we still get the error on occasion. Any thoughts why?
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OK, this sounds like some bad cable connections where the cable wasn't inserted all the way into the connector before it was crimped. But it could also be a termination problem or bad power wiring problem. With the robot on and the software in teleop mode (make sure the robot is up on blocks so it can't actually move) and while the operator is moving the wheels back and forth, wiggle the CAN bus cables back and forth to see if you can get the CAN bus to go off line. You'll know this because the Jaguar lights will go out.
Do the same for the power connections from the PDB to the jags. Just wiggle the wires at both ends to see if you've got an intermittent crimp or bad wago insertion. Again, you'll know because the jaguar LEDs will go out. If that still doesn't work, then assign one each of your team to watch the Jag LEDs on each of your jags as your drive around to see if any of them go out . Also, make sure that your battery voltage isn't dipping too low. If you're getting into the 6-7 volt range during the drive, then you need to recharge or get another battery.
HTH,
Mike