CANTimeoutException disabling motors

[JasonStern]

We are using 4 black Jags and 4 grey Jags this year connected to a 2Can and programmed in Java. All the Jags have been updated to firmware 92 and the 2Can to firmware 2.1. The black Jags control our drive motors and each one has a 1024 count quadrature encoder connected to it. The wheels spin at a maximum of 5 rps for a total count of 1024 * 5 * 2 = 10240 transitions per second, well within the rated 1,000,000 transitions per second of the Jaguars.

However, when we turn on speed control we keep getting intermittent CANTimeoutException errors (%VBus works fine). Whenever this happens, the affected Jaguar stops responding to crio commands but gives no other indication there is a problem. The status lights are all normal and the 2Can website continues to get environmental updates from the Jaguar. In addition, all the other Jaguars continue to work fine until they too get the random exception.

Any idea what might be causing this? There appears to be a new motor safety class that is supposed to kill motors that stop responding, but there doesn't seem to be anyway to reset the status and I'm not certain this is the problem. We even tried putting the robot on blocks and limiting our commands to only the drive Jags, but still ran into the same issue. An interesting note is that while we get the exception at random times on random Jags, once we are down to a single Jag receiving commands we do not get any further exceptions. We have verified all our connections and are only using a few feet of wiring.

Thanks in advance for your help!

Jason