[mjcoss]

I'm not sure you can say it's noise given the tests that you've run. Running the CAN bus using BDC-COMM bypasses a lot of software/frimware on the cRIO and 2CAN. We have 2 platforms and both are seeing issues.

One interesting note is that on one of our setups where we are running in speed control mode, we see a glitch in the PID loop on a ~1 min interval. I initial thought that it might be just an overflow condition on the integrator term, so I set kI to 0. This appeared to make the glitch disappear but it came back last night. Then I read about the fact that if the Jag's brown out, they loose their configuration. I don't think our Jag's are browning out, but I'm adding code to check...of course it just adds to the bus traffic but I see no alternative. The configuration needs to be restored if the Jags do indeed brown out.

---Michael J Coss