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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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[ERROR] internal error: 76 #479

Closed pvela2017 closed 1 year ago

pvela2017 commented 1 year ago

Hello,

I'm trying to interface 8 motor drives, in set of 4 using 2 USB-CAN devices and socketcan_bridge (socketcan_bridge_node). One of the set of 4 motor drives (brand 1) works without problem but the other one (brand 2) give the following problem:

I don't know why, this is happening, any insight would be really helpful. I am using a ROS noetic running on Ubuntu 20.04 LTS, on an Intel i7.

[ WARN] [1690188601.979417012]: Received frame is error: 2000000c#0030040000000000 [ WARN] [1690188601.979429163]: Received frame is error: 2000000c#0030020000000000 [ WARN] [1690188602.179632124]: Received frame is error: 20000004#0030000000000000 [ WARN] [1690188602.179723848]: Received frame is error: 2000000c#0030020000000000 [ WARN] [1690188602.179779581]: Received frame is error: 2000000c#0030020000000000 [ WARN] [1690188602.179817949]: Received frame is error: 2000000c#0030020000000000 [ WARN] [1690188602.179856378]: Received frame is error: 2000000c#0030020000000000 [ WARN] [1690188602.180033240]: Received frame is error: 2000000c#0030020000000000 [ WARN] [1690188602.379885706]: Received frame is error: 20000004#0030000000000000 [ WARN] [1690188602.379966500]: Received frame is error: 2000000c#0030040000000000 [ WARN] [1690188602.379990125]: Received frame is error: 2000000c#0030020000000000 [ WARN] [1690188602.579935023]: Received frame is error: 20000004#0030000000000000 [ WARN] [1690188602.580015319]: Received frame is error: 2000000c#0030020000000000 [ERROR] [1690188602.580121030]: internal error: 76 [ERROR] [1690188602.580223243]: Error: controller problems;protocol violations;bus off;, asio: Success [ERROR] [1690188602.580285085]: Error: controller problems;protocol violations;bus off;, asio: Success [ERROR] [1690188602.580308315]: Error: controller problems;protocol violations;bus off;, asio: Success [ERROR] [1690188602.580344465]: Error: controller problems;protocol violations;bus off;, asio: Success [ WARN] [1690188602.580397450]: Received frame is error: 2000004c#0030020000000000 [ERROR] [1690188602.580468119]: internal error: 76 [ WARN] [1690188602.580550543]: Received frame is error: 2000004c#000c080000000000 [ERROR] [1690188602.580585821]: internal error: 76 [ WARN] [1690188602.580612622]: Received frame is error: 2000004c#000c080000000000 [ERROR] [1690188602.580679775]: internal error: 76 [ WARN] [1690188602.580748329]: Received frame is error: 2000004c#000c020000000000 [ERROR] [1690188602.580799555]: internal error: 76 [ WARN] [1690188602.580863569]: Received frame is error: 2000004c#000c080000000000 [ERROR] [1690188602.580916906]: internal error: 76 [ WARN] [1690188602.580991840]: Received frame is error: 2000004c#000c080000000000 [ERROR] [1690188602.581045647]: internal error: 76 [ WARN] [1690188602.581087987]: Received frame is error: 2000004c#000c080000000000 [ERROR] [1690188602.581142470]: internal error: 76 [ WARN] [1690188602.581203542]: Received frame is error: 2000004c#000c080000000000 [ERROR] [1690188602.581241195]: internal error: 76 [ERROR] [1690188602.979944519]: Failed to send message: 8#db13000000000000. [ERROR] [1690188603.180123921]: Failed to send message: 8#db14000000000000. [ERROR] [1690188603.380251727]: Failed to send message: 8#db15000000000000. [ERROR] [1690188603.580513787]: Failed to send message: 8#db16000000000000. [ERROR] [1690188603.780805456]: Failed to send message: 8#db17000000000000. [ERROR] [1690188603.981030933]: Failed to send message: 8#db18000000000000. [ERROR] [1690188604.181254977]: Failed to send message: 8#db19000000000000. [ERROR] [1690188604.381526750]: Failed to send message: 8#db1a000000000000. [ERROR] [1690188604.581604309]: Failed to send message: 8#db1b000000000000. [ERROR] [1690188604.781795550]: Failed to send message: 8#db1c000000000000. [ERROR] [1690188604.981979382]: Failed to send message: 8#db1d000000000000. [ERROR] [1690188605.182069894]: Failed to send message: 8#db1e000000000000.

pvela2017 commented 1 year ago

Problem was caused by a motor driver baudrate wrongly configured.