Labview -44087 CAN Timeout Error

[Peter Randall]

Folks,

I am trying to use CAN with the 2CAN interface and Labview. My objective is to use the quad encoder on a CIM motor to control the speed of my shooter. I am having real problems getting the CAN to work reliably. I can recreate my problem with the basic FRC framework with the code from the CAN Speed Control Encoder split between Begin and Teleop

I can configure and test the simple motor controls without error. As soon as I add a “sophisticated” control, either the CAN PID using a quad encoder or even the 4 motor drive, I start to get -44087 errors.

ERROR <Code>-44087 occurred at NetComm_CAN_Receive.vi:47
FRC: JaguarCANDriver timed out waiting to receive a response from a Jaguar

I have tried to isolate the offending code and it is elusive. I have replaced the following:
All new Black Jags
Updated firmware
Swapped out the CAN cables and terminating resistor
Tried both RS232 and 2CAN with same results
I have re-imaged the cRIO with the correct CAN Driver Plugin
Swapped out quad encoders
If I run deployed compiled code it runs more cleanly than interactive code

When I run the sample CAN Speed Control Encoder and put a wave chart on the Get Status Speed after the Set Output, I get intermittent breaks in the RPM curve that correspond to a physical stuttering of the motor. They also seem to be tied to the Time Out error on the driver station

If I whip saw the desired speed (something I would generally avoid), I hear a click and then the Jag refuses to respond. It is not the fuse, but appears to be in the Jag. If I reboot, it comes back on line, but there is no other way to restart the Jag.

Any thoughts or suggestions would be appreciated?

Thanks

[Alan Anderson]

Originally Posted by Peter Randall

If I whip saw the desired speed (something I would generally avoid), I hear a click and then the Jag refuses to respond. It is not the fuse, but appears to be in the Jag. If I reboot, it comes back on line, but there is no other way to restart the Jag.

When you updated the Jaguar firmware, which version did you use? The very latest change was to let them recover from such error conditions on their own without requiring a power cycle.

[Peter Randall]

I am using firmware version 101 with the 2CAN. Thoughts?

PGR

[Mike Copioli]

Make sure you are not driving any Jags that are not on the Bus. Also have you been successful when only one Jaguar is present on the bus? When doing so make sure the above condition is met. (only communication to the one Jag).

That error can also be caused by poor cabling or termination.

[darrellt]

Did you ever resolve this issue?