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System Crash When Using the NI SoftMotion Controller for CANopen with a IEEE 1394 Device

Hardware: Motion Control>>Controllers>>NI SoftMotion Controller for CANopen

Problem: If I have both NI SoftMotion Controller for CANopen and the IEEE 1394 driver installed on a PXI LabVIEW RT target, the system may crash with the following error message:

Kernel.446580: Illegal Win32 API called from HW ISR
Kernel.146650: Exception before per-thread handler init complete
Fatal Error Kernel.146070: Out of interrupt stacks
ETS Monitor halting with error code 1.

Solution: The current workaround is to update the ni-rt.ini file to move the NI-CAN startup DLL to the front of the list so that the NI-CAN driver starts up before the IEEE 1394 driver. Complete the following steps to update the ni-rt.ini file:
  1. Open an FTP session to the RT system and go to the root directory of the controller.
  2. Copy the ni-rt.ini file to your host system.
  3. Edit the StartUpDLLs token in the [LVRT] section to move NcRpcSrv.dll to the beginning of the list.

    For example, update the following list:
    StartupDLLs=c:\ni-rt\system\imaq1394.dll;c:\ni-rt\system\nivision.dll;c:\ni-rt\system\i815.dll;c:\ni-rt\system\imaqcfgs.dll;nimcdldp.dll;c:\ni-rt\system\mxsemb.dll;niorbp.dll;c:\ni-rt\system\NcRpcSrv.dll;

    to:
    StartupDLLs=c:\ni-rt\system\NcRpcSrv.dll;c:\ni-rt\system\imaq1394.dll;c:\ni-rt\system\nivision.dll;c:\ni-rt\system\i815.dll;c:\ni-rt\system\imaqcfgs.dll;nimcdldp.dll;c:\ni-rt\system\mxsemb.dll;niorbp.dll;

  4. Reboot the PXI system.

If the system crashes before you can begin step 1, you need to remove the 1394 device from the system first so the RT system can start properly, then perform the workaround as described in Steps 1-4. You can reinsert the 1394 device after rebooting the PXI system to ensure that the changes have taken effect. Remember to shut down the RT system before adding or removing any devices.

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Report Date: 08/30/2006
Last Updated: 08/31/2006
Document ID: 40TA03FL

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