how to make motor into RUN mode?

[wei1224hf]

I added Inovance SV660N servo motor .yaml file : `vendor_id: 0x100000 product_id: 0x000c010d assign_activate: 0x0300 # DC Synch register auto_fault_reset: false # true = automatic fault reset, false = fault reset on rising edge command interface "reset_fault"

rpdo: # RxPDO = receive PDO Mapping

• index: 0x1603 channels:
  • {index: 0x6040, sub_index: 0, type: uint16, default: 0} # Control word
  • {index: 0x607a, sub_index: 0, type: int32, command_interface: position, default: .nan} # Target position
  • {index: 0x6060, sub_index: 0, type: int8, default: 8} # Mode of operation tpdo: # TxPDO = transmit PDO Mapping
• index: 0x1a03 channels:
  • {index: 0x6041, sub_index: 0, type: uint16} # Status word
  • {index: 0x6064, sub_index: 0, type: int32, state_interface: position} # Position actual value
  • {index: 0x606c, sub_index: 0, type: int32, state_interface: velocity} # Velocity actual value
  • {index: 0x6077, sub_index: 0, type: int16, state_interface: effort} # Torque actual value
  • {index: 0x6061, sub_index: 0, type: int8} # Mode of operation display`

then modify the motor_drive.ros2_control.xacro , then launch , seems launched successfully:

but how to make the motor run?
how to enable the motor then run slowly?

[wei1224hf]

is there any commands I can type in console , to make the motor into run mode , then switch to PREOP mode?

[wei1224hf]

it's because I set the wrong PDO mapping ,