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CVS1458RT, EtherCAT 9144, Softmotion

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Hi,

 

Just wanted to confirm.

 

I want to use a 9263 analog output and a 9411 diff channel installed on an EtherCAT 9144 châssis.

I then want to use a CVS 1458RT and use Softmotion RT loop to control those. (similar to exemple : Servo Interface (9263 & 9401 & 9411))

 

The difference is that the EtherCAT FPGA I/O are not accessible like the example.

 

Is is possible? How? Using user-defined Variables instead of the FPGA reference Write property node?

 

Thank you,

Patrick

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Hey Paubine,

 

I believe that you may have to use the user-defined variables as you suspected. I'm going to look into this a bit more to find if I can find any documentation outlining that.

Eden K
Applications Engineer
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Paubine,

 

Here is a page discussing when you need to use User-Defined Variables with a 9144. Also the second link gives some more information about using EtherCAT slaves with a master cRIO. 

 

Can I Program the FPGA on the NI 9144 EtherCAT Expansion Chassis?

http://digital.ni.com/public.nsf/allkb/9FB521DCA1F6F6918625752400705194

 

Programming EtherCAT I/O With FPGA Intelligence

http://www.ni.com/white-paper/10618/en/

Eden K
Applications Engineer
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I began changing all reference to fpga to the userdefined variable... testing soon.

I wanted to know if it was possible and if someone already did that.

 

Thank you.

Patrick

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Hey Patrick,

 

Let me know how the test goes. I'm not sure if there are any examples for reference, but you might be able to find an example in LabVIEW's example finder that does this.

Eden K
Applications Engineer
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Yes sure, I can give the example when it will work but for now I'm stuck with this simple error : 

 

-2147138553

 

Shared Variable in test.vi<APPEND>
This error or warning occurred while reading the following Shared Variable:
\\NI-CVS-1458RT-01A7E085\EtherCAT Slave\Device\User-Defined Variables\Encoder Position
\\169.254.193.10\EtherCAT Slave\Device\User-Defined Variables\Encoder Position

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Is the message you're getting with that error "The variable does not exist because the master, slave, or module handle is invalid. Check the name of master, slave, or module."? That was the message I was able to find from searching for your error. I would double check that you're referring to everything with the proper names. 

 

I've found some old issues where this error popped up and was fixed by flashing the firmware on your chassis. See the link below for how to do this while retaining your user defined variables. 

 

How Can I Flash the NI-9144 EtherCAT Slave Chassis Firmware Programmatically and Retain My User Defined Variables?

http://digital.ni.com/public.nsf/allkb/DD7C7915067CC2028625797C0056E7D0?OpenDocument

 

In the past, if this hasn't worked, flashing one of the standard .FoE firmware files (NI-9144_rev2_6.foe has been mentioned) has resolved this error as well. 

 

Hope this works!

Eden K
Applications Engineer
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Thank you.

 

I right click on the fpga build under build specification and click "download", it solve the problem.

 

I will keep you inform about how it worked.

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Glad to hear! Let us know if it rears its head again!

Eden K
Applications Engineer
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Solution
Accepted by topic author paubine

Hi,

 

Finally, by replacing all FPGA reference by the user-defined variable, everything work properly.

I replaced all reference in both, FPGA VI and the RT VI with user-defined variable.

 

Thanks for helping.

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