Hello,
My goal is to control a FESTO motorcontroller (CMMS-ST) in LabVIEW using the CANopen interface and the FHPP device profile by FESTO. I am using an cRIO9024 (9114 chassis) and a NI9881 module.
I was able to built a VI using the NI Industrial Communications for CANopen example project. I am able to start the CANopen interface and send NMT-messages, SDOs and PDOs. I checked this by using an USB to CAN analyzer adapter, in the corresponding software I can see the messages that are being sent. When I run the VI the LED1 of the NI9881 module is solid green, LED2 is off.
However, I still have some problems:
1. Communication with motorcontroller
I am not able to communicate with the motorcontroller (it seems that it doesn't react to the CANopen messages) and when I start the CANopen interface, the Bus-LED of the controller is just lighting up for a moment and then turns off (it should light up continuously instead).
Does anyone have an idea why the motorcontroller is not communicating and how I can solve that?
2. BatchSDO
I get errors when reading the BatchSDO (I created an object dictionary using an EDS file provided by FESTO). Some parts of the BatchSDO are being sent, but with some objects from the OD I get errors:
- "Data cannot be transferred or stored to the application" (SDO error message: 08 00 00 20h). I get this one for object 1010sub1 and 1011sub1.
- "Object does not exist in the object dictionary" (SDO error message: 06 02 00 00h). This error occurs with many of the objects, even if I put them in the object dictionary and I can also see them in the EDS file.
Why do I get these errors? How can I send all the information in the BatchSDO?
3.
When I stop the VI, I get the error code 346634 - "The operation timed out. Specify a timeout long enough to complete the operation, or change the operation in a way that it can get completed in less time (for example, read less data)."
How can I fix this error?
I would be happy if anyone could help me with my questions, or at least part of them.
Thank you and best regards,
Veronika
