We are having a strange problem with our CAN Jags. When we enumerate the CAN bus in LabVIEW, all of the Jags register correctly. However, when we tell it to give voltage to a motor, it returns an error that means that the CAN device could not be found. We matched the open motor.vi to the CAN Enum readings, but it didn’t work. We know that all of out jags work correctly, as the Ti software was able to drive the motors in a test. Any Suggestions?
I had similar issues and it boiled down to not having the driver station enabling the cRIO, even while using the CAN example. If you are already enabling the cRIO, are you using 2CAN or serial? More information will be required, maybe a photo of the test setup?
we are using serial.
How long are your CAN cables?
Are you using a terminator on the last jaguar?
What device IDs are you using?
How fast is the loop for CAN? (remember serial is like 1/10th of the CAN bandwidth)
What firmware is on the cRIO and the jaguars?
You can Enum without being enabled, that’s why I asked before.
all but the first are less than 6 in
yes
3 and 11
I don’t know
latest firmware
yes, teleop is enabled
OK, so just to verify:
You have something close to this?
Default 2012 robot project
Begin.vi:
Open2Motor VI -> CAN Jaguar -> Replace PWM drop-down with device IDs -> MotorRef
Teleop.vi:
MotorRef -> Loop[Motor control] -> CloseMotorRef
It may also help to try one jaguar, at a time.
Yeah, that’s what we have. by the way, i forgot to mention that when we try to move the motor, the jag’s light blinks quicker.
What color does the jaguar blink?
If red or green, check to see if there is voltage on the M+ and M- outputs, if not the internal jaguar hardware is bad. The LED will blink because the CAN and PWM interface is isolated from normal jaguar functions in-case of a failure it can keep communication alive.
Rapidly flashing yellow indicates that the CAN ID is invalid, not that hardware is damaged. Refer to Table 2-2 here for more details.
Have you correctly configured and updated the Jaguars with the BDC-COMM interface?
Here is a snapshot of the VI that we built to run a motor. the Jags stopped changing the rate of blinking, and are now not showing any indication of being connected outside of Enum.http://www.chiefdelphi.com/forums/attachment.php?attachmentid=11460&stc=1&d=1327021294
We are going to use PWM for now, if anyone sees a problem in the test code, please alert me.
Thank you everybody for the advice. The problem turned out to be a faulty cRio. We received our new cRios on Friday and everything is working fine.