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 BDC-COMM 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 drop-down 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.

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.

Opening the Motors

Types of Control

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?