I Cannot Connect to my Copley Servo Amplifier that Supports CANopen in LabVIEW

Updated May 3, 2018

Reported In

Hardware

  • NI-9881
  • cRIO-9039

Software

  • LabVIEW 2016 Professional

Driver

  • NI-RIO 16.0
  • NI-Industrial Communications for CANopen 16.0

Issue Details

I have a Copley XENUS XTL23018 Servo Amplifier which I am trying to establish CANopen communication in LabVIEW.  I have this device connected to a cRIO-9039 with a NI 9881 CANopen module but cannot seem to initialize communication with my device at all.

Solution

Copley devices have a floating CAN_GND and need to be externally grounded in order to establish communication.  Please refer to the CANopen Network CAN bus Cabling Guide from Copley to gain more information about this. 

In order to properly ground your Copley device you must enable the terminating resistor of the NI 9881 module, which can be done through an API call in LabVIEW.  Here are the steps to do the in LabVIEW:
  1. Within the block diagram right-click to open the functions palette. Navigate to Measurement I/O>>XNET and select the XNET Session Property Node.
  1. Hover over the Property until the hand appears, and select the menu option below
  1. Right click the input terminal on the property node and select Create>>Constant. Switch the constant to the "On" position.

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