[duane]

Our CAN system (using LabView) is kind of working but there are significant errors and problems. We're hoping to get a few pointers to what the problem might be.

We are getting:

ERROR <code> -52007 occurred at CAN Receive.vi NI Platform Services: The requested operation did no complete in time.

These happen quite often. The CAN network has 10 Jaguars. We initialize them all (and expect to be able to use them all). At this point, for debugging, we have disabled the use of all but 4 of them. These 4 are our drive motors. (All of the other Jaguars are initialized but never updated.)

Along with this error we are also getting

Watchdog Expiration: System 61, User 286

The system and user number are sometimes different. It's not clear what the pattern is.

As we disabled more speed control code, the number of watchdogs has reduced. It sounds like the CAN Receive errors are related to the Watchdog. If CAN was receiving there would be no watchdog errors.

The lights on the speed controllers are solid for periods, but then flash during the Watchdog timeout. The speed controllers respond as we change the settings, but again, they flash off during the watchdog period.

I believe that if we fix the receive errors the watchdog errors will go away.

How can we address these problems? What is the cause of the receive timeout?

Thanks for the help,
...Duane
ps
I've noticed some updates to the Java and C++ code for the canjaguar project on FirstForge, but no recent changes for LabView.

Thanks again for the help!