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Roboprotos / maxon_epos4_ros1

ROS metapackage example on how to use maxon EPOS4 motor controllers with ros_canopen
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Initialization Failure with Maxon Motor Using IXXAT USB-to-CAN #5

Closed ika-si closed 5 months ago

ika-si commented 8 months ago

Hello, thanks for this useful software !

I am encountering an initialization failure when attempting to operate a Maxon motor using the IXXAT USB-to-CAN V2 interface.

Environment: ・Ubuntu20.04LTS ・IXXAT USB-to-CAN V2 ・EPOS4 compact 50/5 can

Steps to Reproduce: In the first terminal $ roslaunch maxon_epos4_ros_canopen maxon_epos4_canopen_motor_1dof_ppm.launch In the second terminal $ rosservice call /maxon/driver/init

Actual Behavior: The initialization process fails with the following error messages in the console:

[ INFO] [1707807331.767948279]: Using fixed control period: 0.010000000

[ INFO] [1707807335.028768010]: Current state: 1 device error: system:0 internal_error: 0 (OK) [ INFO] [1707807335.029171750]: Current state: 2 device error: system:0 internal_error: 0 (OK) [ INFO] [1707807345.029996332]: Current state: 0 device error: system:0 internal_error: 0 (OK) [ INFO] [1707807345.030132079]: Current state: 0 device error: system:0 internal_error: 0 (OK) [ERROR] [1707807345.030785136]: Initializing failed: could not reset node '1'

I am seeking assistance in resolving this initialization failure. Any insights, suggestions, or solutions would be greatly appreciated.

Roboprotos commented 6 months ago

Have you been able to solve this issue ?

ika-si commented 5 months ago

I've successfully resolved the issue. It was due to the DIP switch settings on the EPOS4.