[Greg McKaskle]

The disable structure does what you think. It disables the code as if it were deleted. The wires leaving the structure have the default value or whatever you wire up to the Enabled frame.

The comment about safety being disabled was referring to a simple modification to the default Disabled.vi to ensure that it doesn't cause safety errors.

As for the potential cause of your error. Does the CAN topology make sense with that one disabled? Also make sure that the CAN connections, cables, and terminator are good. Check to see if there are errors on the Diagnostics Message box, and potentially add the Elapsed Times VI to the loop that you think may be running to slowly to update the RobotDrive often enough.

Greg McKaskle