CRIO-9014 and 9853 CAN Module

Hello folks,
When trying to deploy a CAN Receive example from LabVIEW 8.6 onto the 9014 (VxWorks) controller, I keep getting a "shared libarary failed to load" error (nican.*). Some investigating (i.e. searching and reading on ni.com) revealed that perhaps nican cannot be used with the 9853 and the 9014 combo.
I still have many questions, that perhaps some of you can answer, please.
1. Is the following statement true?
The nican "driver" vis cannot be used for a 9853 card in a cRIO-9014 chassis. Instead, it's necessary to use the 985x drivers.
2. Do the 985x drivers have to be installed on the 9014? If so, can it be done using MAX?
3. Is there an FTP client running continously on the 9014?
4. Is there a document explaining how/where to FTP software to on the 9014 controller if needed?
5. Since the 9853 can only be used in fpga programming mode (i.e. scan interface mode is invalid), do I have to have an FPGA host vi running on the 9014 or can I leave the host on an "external" computer?
This is my first attempt at using a cRIO for anything so please feel free to assume that I don't know anything that isn't explicitly stated in the "getting started with LabVIEW..." document.
Thanks in advance.
Chris

chassan,
1 - Yes, that's true, as confirmed here.
2 - Yes, they must be present on the 9014. I believe you should add them via MAX as there are no special instructions in the readme of the drivers.
3 - Here are a couple articles on ftp and cRIO:
FTP Transfer of Files between Host and Real-Time Targets in MAX How Can I Use LabVIEW to FTP Files to and from My Real-Time Target
4 - Same as above
5 - I am not exactly clear on the quesiton.
Hope this helps, post again if you have other inquiries!
Peter Flores
Applications Engineer

Similar Messages

CANOpen Communication NI cRIO 9022 (9853 CAN module) and MAXON EPOS2

Hi all
I am trying to implement a velocity control loop on my Maxon EPOS2 motor controller, by using PDOs sent through my real-time controller (NI cRIO 9022) with a CAN module (9853).
I configured the PDO mapping in the object dictionary of the EPOS2, so that each new RxPDO1 contains the new desired velocity setting value, and I am trying to use the simple example contained in the National Instrument example directory criocanopenbaisc (freely downloadable here http://zone.ni.com/devzone/cda/epd/p/id/5474).
I can change manually in the object dictionary the value of desired velocity by using the EPOS studio tool by connecting via USB the EPOS2 to my computer, but when I connect the EPOS2 to the CAN0 port of cRIO the newly sent values does not make effect.
At the first try the .vi file hung on the Read PDO command, which is right after the Write PDO command. I suppose it means that no real PDO is sent over the CAN bus. However, I excluded the "Read PDO" from the diagram, now the file executes and terminates but no command is sent to the EPOS. I can verify through an oscilloscope that many similar digital waveforms are sent, just like if no ACK signal was received.
After various tentatives, I sent PDOs structured in the following way:
COB-ID (4 bytes containing the U32 representation of the COB-ID for RxPDO1: 531)
Updated value (4 bytes containing the representation of the desired velocity value, U32).
0 in U32
0 in U32.
The last two U32 are sent so to be coherent with the example of the NI library nicanopenbasic.
At the moment only one signal is sent (no more repetitive signals representing fault communication), but the values are not updated in the EPOS2...
Cheers
Solved!
Go to Solution.

Duplicated post

CANOpen Communication NI cRIO 9022 (9853 CAN module) and MAXON EPOS2

Hi all
I am trying to implement a velocity control loop on my Maxon EPOS2 motor controller, by using PDOs sent through my real-time controller (NI cRIO 9022) with a CAN module (9853).
I configured the PDO mapping in the object dictionary of the EPOS2, so that each new RxPDO1 contains the new desired velocity setting value, and I am trying to use the simple example contained in the National Instrument example directory criocanopenbaisc (freely downloadable here http://zone.ni.com/devzone/cda/epd/p/id/5474).
I can change manually in the object dictionary the value of desired velocity by using the EPOS studio tool by connecting via USB the EPOS2 to my computer, but when I connect the EPOS2 to the CAN0 port of cRIO the newly sent values does not make effect.
At the first try the .vi file hung on the Read PDO command, which is right after the Write PDO command. I suppose it means that no real PDO is sent over the CAN bus. However, I excluded the "Read PDO" from the diagram, now the file executes and terminates but no command is sent to the EPOS. I can verify through an oscilloscope that many similar digital waveforms are sent, just like if no ACK signal was received.
Looking forward to receiving any hint
Fabrizio

Some updates on the developments, since no one yet replied...
At the current time the PDO sent is structured in the following way:
COB-ID (4 bytes containing the U32 representation of the COB-ID for RxPDO1: 531)
Updated value (4 bytes containing the representation of the desired velocity value, U32).
0 in U32
0 in U32.
The last two U32 are sent so to be coherent with the example of the NI library nicanopenbasic.
At the moment only one signal is sent (no more repetitive signals representing fault communication), but the values are not updated in the EPOS2...
Cheers

Varying ON time pulse train generation using NI cRIO-9073 and NI 9401 module

Hi,
I am a beginner to the Labview environment. Am using NI cRIO-9073 and NI 9401 module; and NI Labview 2013. I want to generate 64 pulses, wherein the ON time of the pulses are varying as shown below. The Pulses need to have a constant period of about 34µs. The pulses should have a constant amplitude anywhere from 5 to 10V. I am trying to do the same in FPGA interface mode but failing to do so. Please advise me..... Please also suggest pdf and video resources to learn Labview programming.
Pulse ON Time
18 µs
19 µs
20 µs
21 µs
22 µs
23 µs
24 µs
25 µs
26 µs
27 µs
28 µs
29 µs
30 µs
31 µs
32 µs
33 µs
33 µs
32 µs
31 µs
30 µs
29 µs
28 µs
27 µs
26 µs
25 µs
24 µs
23 µs
22 µs
21 µs
20 µs
19 µs
18 µs
17 µs
16 µs
15 µs
14 µs
13 µs
12 µs
11 µs
10 µs
09 µs
08 µs
07 µs
06 µs
05 µs
04 µs
03 µs
02 µs
02 µs
03 µs
04 µs
05 µs
06 µs
07 µs
08 µs
09 µs
10 µs
11 µs
12 µs
13 µs
14 µs
15 µs
16 µs
17 µs

t81,
It is possible to make frequency measurements with either the 9422 or the 9425 but each will have its own limitations in the range of frequency it will be able to accurately measure.
A few things to know:
1. What are the frequency ranges for each sensor (tach and MFM)? More than just knowing Hz/kHz will be helpful.
2. To what accuracy do you need to measure these signals?
The 9422 supports a specialty digital configuration counter input that can be configured for frequency measurement (see link)
http://zone.ni.com/reference/en-XX/help/372603F-01/riohelprt/crio-9422_rt/
The specialty mode is only available when using Scan Interface mode, not with FPGA.
But the max clock rate in the specifications for the 9422 is 4kHz so this may not be sufficient for the tachometer. I believe this is the max rate at which the module will update its state no matter how fast the underlying software (RT controller) is running.
The 9425 has a higher clock rate (~140kHz) but doesn't support the specialty digital mode mentioned above. It is also a software timed only device but this shouldn't be a problem if you use FPGA.
Dan

CANOpen Communication NI cRIO 9022 (9853 CAN module) - MAXON EPOS2

I'm implementing a velocity control loop on two Maxon EPOS2 70/10 control units, interfacing them with a NI cRIO 9022 (CAN module 9853). To this aim, I'm using the libraries from NI and they work quite well: for each EPOS2 I can read current, position and velocity using 2 PDO messages and set a desired velocity using 1 PDO message, all in a single timed loop on Labview Real-Time. My VI is based on a NI example included in the mentioned library. Even though the sampling time of the loop is set to 10 ms (as in the example file), I verified that all the operations were executed in about 30 ms.
My target is 1 ms sample time and I'd like to know if there is any chance to get this; are there some limitations in the software/communication protocol I'm using or is it possible to achieve 1 kHz control frequency? Based on the documentation, the EPOS2 CANopen driver is split as follows:
1.      Hardware Layer: VIs which interact with the CAN hardware (FPGA Interface folder).
2.      CAN Layer: VIs which construct/deconstruct CAN packets and handle communication between the Hardware Layer and the top level application (CAN folder).
3.      CANOpen Layer: Low level VIs which simplify the generation of the SDOs and PDOs used to communicate over the CAN bus (CANopen folder).
4.      EPOS2 Driver Layer: High level wrappers over the CANOpen Layer simplifying the control of EPOS2 drives (main folder).
It seems that the Layer that construct/deconstruct CAN packets is impelemented on the RT level. Is it correct? Do I need to move it to the FPGA level to improve performances?
I look forward to hearing any suggestions from you.
Best,
Nevio

Hi Nevio,
I am trying to simply read encoder values from my EPOS2 24/2 control units into Lavbiew. I have been through all the documentation however I am unable to establish communication between the EPOS2 and labview.
I am connecting the two using a USB connection. I can connect to and control the motors in EPOS Studio, but nothing in labview.
I am very new to Labview so I am probably not putting the correct blocks down for initialization.
Could you please help me by suggesting some good examples to look at or linking me to labview sample of initializing communication with the EPOS2 units.
Any help is greatly appreciated
Regards,
Kris

How can I set the timebase in the FPGA API for the NI 9853 CAN module?

Hallo,
is there anybody familiar with cRIO, especially the NI CAN 9853 Modul?
When starting communication with a CAN Bus you can get a receiving CAN Frames from the FPGA I/O Node with a timestamp.
How can I set this timebase in the CAN Controller, because the CAN communication starts every time with the same timebase.
Compared to the CAN API on a PC the timebase for the communication is set when the Open Frame API VI is used?
From that time the CAN Contoller assume the timebase from the PC.
Whats about the FPGA API?
Martin

Hallo Dirk,
thanks you
for your answerer regarding my question.
The last
question belongs to my intention, to get absolute Timestamps from the NI 9853
CAN interface. As you said it always starts from zero when starting the
application.
For my application
I would like to get a timestamp with the local time I start the CAN communication
and every CAN Frame should be logged with the Timestamp it is actually send on
the CAN BUS.
How can I achieve
it?
My first
thoughts were to add up the timestamp for every CAN Frame counted from zero to
an absolute Timestamp when starting communication. But I have got some wrong values.
Maybe I did something wrong using the high and low part of the Timestamps I got
from the CAN API.
Do you have
a suggestion for me?
MartinW

Why do I keep getting error -65581 when trying to use a cRIO 9024 and c series modules

I am simply trying to send out a digital high on DIO0 of a 9401 c series module and I get the following error every time.
Error -65581 occurred at Shared Variable in Send True Value Out.vi
Possible reason(s):
CompactRIO: (Hex 0xFFFEFFD3) The FPGA personality currently running on the CompactRIO chassis does not support the RIO Scan Interface in this slot.
This error or warning occurred while writing the following Shared Variable:
\\NRL-CMG-cRIO\NI 9401-1\DIO0
\\170.126.209.52\NI 9401-1\DIO0
Any help would be greatly appreciated.
Nate
Solved!
Go to Solution.

NMAYO,
In your project view can you right click on the chassis in the cRIO and make sure that it is set for Scan Mode and not FPGA mode? Also, In the measurement and automation explorer you can check the cRIO and verify that it has Scan Engine Support installed on it. The tutorial below shows how to reformat a cRIO and install software on it, the later steps on software will allow you to check your cRIO.
Reformatting a CompactRIO Real-Time Embedded Controller
Ben Sisney
FlexRIO V&V Engineer
National Instruments

FPGA couldn't stack the data on FIFO working on cRIO-9082 and NI 9223 module

Hi all !
I made below logic working on FPGA ( chassis : cRIO 9082 / Analog input module : NI 9223 )
* These logic is for analyzing automotive engine combustion.
As title, it ain't work well.
Is there a basic mistake or any problem...?!
That makes me crazy.
Thanks for reading it anyway!

Sorry for the grammar
Any signal from FPGA is not transferred to RT.
Building process has no problem and logic seems to be okay..........
No error message!

CRIO CAN Module and Bundle to/from U32Array conversion LV FPGA VI

Ciao,
I'm looking for a Bundle to/from U32Array conversion VI, running on LV FPGA with cRIO CAN module.
This conversion has to take place within the FPGA, without leveraging the RT embedded processor
I'd also like to suggest implementing such utility directly into the LV FPGA function palette, because it's quite common dealing with message contents (bundle is better!) and communicating frames to an external RT application (array is more effective)
Thanks so much
ciao

LV FPGA does include the Cluster to Array and Array to Cluster functions which allow you to convert between these two data types assuming that all elements of the cluster are of the same data type.
The CAN message cluster does contain elements of different data types (one array and a number of scalars) so it can not be converted directly using the Cluster to Array function.
Using basic data handling functions you can build a subVI to convert from the CAN cluster to an array. I have attached an example of such a VI.
Christian Loew, CLA
Principal Systems Engineer, National Instruments
Please tip your answer providers with kudos.
Any attached Code is provided As Is. It has not been tested or validated as a product, for use in a deployed application or system,
or for use in hazardous environments. You assume all risks for use of the Code and use of the Code is subject
to the Sample Code License Terms which can be found at: http://ni.com/samplecodelicense
Attachments:
cRIO CAN Cluster to Array.vi ‏40 KB

NI 9853 C Series CAN module Synchronization

OK, this is goning to be long to explain...First of all Im using a CompactRIO 9004 system with 9104 Chassis and the NI9853 high speed CAN module. Ive been able to perform a loopback test between CAN0 and CAN1 ports of the 9853 module (with standard and extendend IDs). I also have a fully functional CAN network consisting of Microchip hardware, specifically two dsPIC30F4011's with the MCP2551 CAN transceiver and one 18f4553 with an MCP2515 CAN controller and a MCP2515 CAN transceiver, this network also works well within itself (I send messages through the CAN network and the PICs are able to control some servos). Im trying to interface the cRIO and NI9853 with this CAN network, but neither the NI9853 module will successfully transmit or recieve from any of the PICs. Funny thing is that I connect everything to the same physical bus (twisted pair cable with 120ohm terminators) and Im still able to transmit from CAN0 to CAN1 of the NI9853, and also the PICs are able to transmit/recieve within themselves. I think it all has to do with sync issues, the thing is; Ive gone as far as programatically writing the BTR0 and BTR1 registers of the NI9853 module (which has a Phillips SJA1000 CAN controller) to match those used by the Microchip hardware, and still no communication. Im trying to transmit at 1Mbit/s, using 20Mhz clocks on my external CAN network, for this Im using 10 time quantas to represent the nominal bit time, from what I understand from both CAN controller datasheets (MCP2515 and SJA1000) the definition of the segments and the sampling point for the bits is what is of importance (as well as the scaler value), Ive matched both to identical values by manipulating the BTR0 and BTR1 registers of the SJA1000 (NI's 9853) CAN controller. From what I know the FPGA on the cRIO runs at 40Mhz, with this a 20MHz clock for the NI9853 is possible. Here is the thing, when selecting the properties for the 9853 module and selecting a preset from the "Baud Rate" drop-list for any CAN port, if the "Advanced" button is pressed the "Specifiy Baud Rate as Bit Timing Registers" value changes accordingly to the preset value specified in the drop-list, that is, if I select 1000 kbits/s, BTR1 gets the value 0x14 and BTR0 gets 0x00; if I select 500 kbits/s BTR1 gets 0x1C and BTR0 gets 0x00. Also on the same properties window for the 9853, there is a "Module" tab, with a drop-list labeled "Module Clock" the values I can select here are 20Mhz and 10MHz. Turns out that the value of the baud rate as specified in the advanced tab by the bit registers is not affected if I select 10Mhz or 20Mhz; also in order to have a 1000 kbit/s speed with a 0x14 value on BTR1 a 16MHz clock speed should be used (according to the definitions of the SJA1000's datasheet for BTR1 and BTR0). The following images show what Im talking about:
Also all documentation I could find regarding nonstandard baud rates on the NI site apparently refers to the CAN controller NI hardware series 1 used (Intels 82527, which actually runs at 16Mhz) from what Ive been able to research this chip has identical Bit timing registers to the ones of the SJA1000 controller, proof of this is the document labeled "How to Configure CAN Ports for Custom Baud Rates" (http://zone.ni.com/devzone/cda/tut/p/id/4304), which shows a map of the registers of Intels chip, and is identical to the one found on the SJA1000s datasheet. On other document titled "How Can I Set Nonstandard Baud Rates in NI-CAN?" (http://digital.ni.com/public.nsf/allkb/CBA1FC627FFA0F8F862564DC0071B3A7?OpenDocument), the same information appears regarding the way the NI-CAN driver handles baud rates (again using Intels chip, which by the way is incorrectly specified to be running at 8Mhz). Using 20Mhz and the BTR1+BTR0 combination 0x1400, the SJA1000 yields 1.25Mbits/s, not even a possible speed on the CAN bus. Bottom line is, I think I cant interface my CAN network with the NI 9853, because of this strange issue. Im just wondering if anybody has any idea how to do this, or at least what is the speed the 9853 module runs on, with this I think I could at least try and find a value to match the 1Mbit on my network. Finally Ive attached the project Im running on the fpga target (Ive set the Module Clock on 20Mhz, disabled auto-start for both CAN ports and specified to run the Baud rate from the time registers using BTR1: 0x34 and BTR0: 0x00 values for the timing registers). Any help will be appreciated, thanks in advance...
Attachments:
CAN Test.zip ‏194 KB

One final thing, this is the only thing regarding external sync that Ive found so far....its the "NI CAN Product Compatibility and Feature Table" (http://zone.ni.com/devzone/cda/tut/p/id/5859#_ftn1) take a look at the footnote it says a digital module is needed, would it be a digital 9401 module? Ive also got one of those.

Servo motor control using CRIO+FPGA and 9477 digital out module

Hello experts,
I have a futaba BLS551 brushless motor digital servo (3 wires-+,-, signal). i also have a CRIO+real-time+fpga and 9477 digital out module. how can i generate servo signals using this module
please help...
Thanks,

freemason,
In order to control your servo motor with the FPGA and or DIO module you will have to write drivers to control your motor and drive. While this is possible is an extremely complicated and time consuming process. I would highly recommend you consider using the NI 9514 with soft motion as it will provide full servo functionality and is relatively easy to use.
Regards,
Sam K
Applications Engineer
National Instruments

No option to simulate cRIO device after installing Labview and RT/FPGA Modules from downloads (missing driver support?)

Hi guys--
Basically, I need to simulate a cRIO device without yet having the hardware on hand, like this:
How to Simulate FPGA Hardware Targets Using the Project Explorer with LabVIEW
Instead, I only get the options shown in the attachment "Add Target Options.jpg". I assume this is because of missing drivers, which I assume is due some mistake I made during a recent fresh install of LV. The install went like this: I downloaded (not disks) and installed the following (in this order, latest versions all around):
(1) LabView Development System
(2) Real-Time Module
(3) FPGA Module
(4) NI-RIO (install prompted by previous install)
(5) DAQmx
At the end of (1) and (2), I got the screen shown in the second attachment ("Drivers Install Message.jpg"), but could not get it to recognize the "NI Device Drivers" folder (which I also downloaded), or any of its sub-folders.
I feel I'm missing some obvious option for loading up the necessary drivers after the install, but can't seem to find reference to it in the forums. Could anyone give me a little push in the right direction?
Thanks a bunch, and have a great day.
Solved!
Go to Solution.
Attachments:
Add Target Options.jpg ‏57 KB
Drivers Install Message.jpg ‏47 KB

Michael--
Thanks for your reply. In answer to your questions, the DAQmx install seemed to go smoothly, and I believe this is evidenced by available my MAX Simulated Device options (shown in the attachment to this post). My best guess (could be wrong here) is that I cannot simulate a cRIO device because I was unable to install the drivers after the Real-Time Module installation (as described in my first post).
The source path selection screen for drivers ("Drivers Install Message" attachment in first post) told me "...you can install NI device drivers later.", and since it would not recognize anything in the NI Device Drivers folder I downloaded, I clicked on "Later".
I could narrow the issue down a bit if I could now install those drivers, but this is my first time installing without disks, and I can't figure out how to properly install the drivers from the folder I have sitting on my hard drive. Have I overlooked instructions somewhere on this procedure?
Thanks a bunch for your help.
Attachments:
MAX Device Simulation Options.jpg ‏52 KB

HELP! Downloaded LR5 and when open it shows an error message saying error while trying to change from modules and I can not even import photos. Am I doing something wrong?

HELP! Downloaded LR5 and when open it shows an error message saying error while trying to change from modules and I can not even import photos. Am I doing something wrong?

I have the same problem, and the solutions in Error changing modules | Lightroom do not work. Even uninstalling and reinstalling a new copy did not solve the problem. As anyone got an idea what other lingering files might be causing the problem?

I can't open any of my Word documents on my Apple Mac. The error code is EXC_CRASH (SIGABRT) and the blame module name is WordArt. The documents are still there, and I can open them on my iPad when I email them there. Any ideas?

I can't open any of my Word documents on my Apple Mac. The error code is EXC_CRASH (SIGABRT) and the blame module name is WordArt. The documents are still there, and I can open them on my iPad when I email them there. Any ideas?

Uhhhhh... Thank GOD... Got all of my files.
Spent some time on the phone with Apple Care... who was great to deal with but actually... not as helpful as I was hoping. It was suggested that I try DiskWarrior 4 to try to recover the files. $108 later, I had no files.
More calls with Apple Care and they were pretty sure that everything was gone since once the External drive was installed, like a moron, I let TimeMachine go ahead and back up my new MacBook... so it overwrote who knows how many gig that was my entire MacBook.
I wasn't giving up so I called Maxtor, the manufacturer of the external drive itself. They suggested file recovery software from I365... which is also a Seagate company (the makers of the drive). The suggested I simply use their demo because the demo version would find the files. If it found them, I could buy the software to restore them.
It found them! Another $129 after and I was able to restore all of them back to my old PC laptop.
NOW, I just need to figure out how to get the 50gig of HD video files off of my old laptop now and into my Mac and IMovie so I can actually make some DVDs out of them!
I get that Macs and PCs are different formats but I think it is ridiculous that formatting still means basically just wiping out or at least treating massive lots of old data as if it isn't there. There's gotta be a better way to do that.

My "Library" module suddenly disapeared and I can not access my images. How do I find my folders if there is no "library" button?

My "Library" module suddenly disapeared and I can not access my images. How do I find my folders if there is no "library" button?

You've merely inadvertently hidden it.
Hiding/unhiding panels and modules is a little known feature of Lightroom which seems to put the fear of God into unsuspecting newbies who are not aware of the feature.
Right-click (CTRL Click on Mac) on the Module names and restore the check mark to Library.

CRIO-9014 and 9853 CAN Module

Similar Messages

Maybe you are looking for