Transcript CAN Software

Programming CAN
Jaguar ID
Each Jaguar has its own ID number. The
factory default is 1, but for CAN to work each
Jaguar must have its own unique ID.
To change the ID, you must first connect the
Jaguars to the computer using the DB9
adapter. After this, you must run the BDCCOMM application that will come with
LabView.
Jaguar ID (cont.)
Go to the System tab. Enter a new ID (2 to 63)
and press Assign. You will then have 5
seconds to press the User button on the
Jaguar being set. The light on the Jaguar
should then blink a number of times equal to
its ID.
Updating Firmware
After setting the IDs, you will need to update
the firmware. While running the BDC-COMM
application, select the ID of the Jaguar to be
updated, then go to File>Update Firmware.
Browse for the appropriate file, then click
Update. This needs to be done for each
Jaguar individually, and Black and Tan Jaguars
each have their own version of firmware.
Re-image the CRio
Before the CAN system can be used with the
CRio, the CRio has to be re-imaged. When it is
re-imaged, you must select ‘Black Jaguar Serial
Bridge’ from the CAN Driver Plug-in dropdown menu.
Opening the Motors
Opening CAN motors is just like opening a
normal Jaguar or Victor. Just select ‘CAN
Jaguar’ from the drop-down menu beneath
the Open sub-vi.
Opening the Motors
The numeric value is the ID of the Jaguar
being referenced, and the blue drop-down
menu selects how the Jaguar will control what
is hooked up to it.
Types of Control
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The Jaguars can control in 4 different ways:
Percent Vbus – this is just like normal motor
control. (-1 to 1)
Voltage – Similar to Vbus, except it is in units of
voltage. (0-12)
Speed – Can control speed in RPM if an
encoder is connected to the Jaguar.
Position – Can control motor position if an
encoder or potentiometer is connected to the
Jaguar.
Controlling the Motors
After the motors are opened, they function
just as any other motor would, except the
output values may need to be different
depending on the type of control selected in
Begin.
Sync Groups
The blue colored input on the Motor Set
Output sub-vi syncs the updating of motor
outputs for the Jaguars, so that all motors will
change at the same time.
Jaguar Specific VI’s
Jaguar Status
Front Panel Indicator
Questions?