send different control word to different nodes when closing node.

ros-industrial / ros_canopen

CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen)

GNU Lesser General Public License v3.0

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send different control word to different nodes when closing node. #418

Closed clm330 closed 3 years ago

clm330 commented 3 years ago

Hello, I have a differential wheel robot which have two drivers. I map 6040 and 6060 as follow: 1600sub1: 0x60400010 1600sub2: 0x60600008 Why RPDOs( 201, 202 as follow images) to two drivers is different when rosnode kill /driver.

Looking forward to your reply.

mathias-luedtke commented 3 years ago

Each drive has its own state (as encoded in the status word) and the control word is used to modify it. Both can vary between drives, nothing to worry about.

If you want to find out more about the difference, you have to decode the individual bits.

clm330 commented 3 years ago

Thanks.