Describe the bug
I used the cia402_setup.launch.py to test the cia402_driver with my roboteq MBL1660 controller. After the driver boots it sends the device into this state Slave 0x15: Switched NMT state to PREOP.
After that, I issued an /init service call to the device which resulted in the could not enable motor message. Would you know what might be causing this?
See below the bus.yaml, the can dump and the launch output.
Keep in mind that I have trimmed the candump by deleting duplicate messages to maintain the character limit.
Logs
driver: "ros2_canopen::MasterDriver"
package: "canopen_master_driver"
sync_period: 10000
defaults:
dcf: "roboteq_motor_controllers_v80.eds"
driver: "ros2_canopen::Cia402Driver"
package: "canopen_402_driver"
period: 10
heartbeat_producer: 1000
polling: true
diagnostics:
enable: true
period: 1000 # in milliseconds
sdo:
# - {index: 0x60C2, sub_index: 1, value: 50} # Set interpolation time for cyclic modes to 50 ms
# - {index: 0x60C2, sub_index: 2, value: -3} # Set base 10-3s
- {index: 0x6081, sub_index: 0, value: 1000}
- {index: 0x6083, sub_index: 0, value: 2000}
tpdo: # TPDO needed statusword, actual velocity, actual position, mode of operation
1:
enabled: true
cob_id: "auto"
transmission: 0x01
mapping:
- {index: 0x6041, sub_index: 0} # status word
- {index: 0x6061, sub_index: 0} # mode of operation display
2:
enabled: true
cob_id: "auto"
transmission: 0x01
mapping:
- {index: 0x6064, sub_index: 0} # position actual value
- {index: 0x606c, sub_index: 0} # velocity actual position
3:
enabled: true
cob_id: "auto"
mapping:
- {index: 0x6502, sub_index: 0} # mode of operation display
4:
enabled: false
rpdo: # RPDO needed controlword, target position, target velocity, mode of operation
1:
enabled: true
cob_id: "auto"
mapping:
- {index: 0x6040, sub_index: 0} # controlword
- {index: 0x6060, sub_index: 0} # mode of operation
2:
enabled: true
cob_id: "auto"
mapping:
- {index: 0x607A, sub_index: 0} # target position
- {index: 0x60FF, sub_index: 0} # target velocity
nodes:
cia402_device_1:
node_id: 21
position_mode: 1
Describe the bug I used the cia402_setup.launch.py to test the cia402_driver with my roboteq MBL1660 controller. After the driver boots it sends the device into this state
Slave 0x15: Switched NMT state to PREOP
.After that, I issued an /init service call to the device which resulted in the
could not enable motor
message. Would you know what might be causing this?See below the bus.yaml, the can dump and the launch output.
Keep in mind that I have trimmed the candump by deleting duplicate messages to maintain the character limit.
Logs
Setup: