FALHABER MCBL 3006 with canopen_motor_node. Homing failed

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Hello,

I'm trying to use the motion controller FAULHABER MCBL 3006 S AES with ros_canopen . It seems there is no tutorial on how to use ros_canopen, the closest i've found is : https://answers.ros.org/question/2501...

I use a raspberry pi 3 with a PICAN hat. The hat works fine : with candump and cansend I can communicate, send PDO request or commands.

This is the continuation of a previous question.

I launched the canopen_motor_node with the same configuration as in this post.

When I call the service /driver/init. I get this result :

rosservice call /driver/init
success: False
message: "could not prepare homing; Homing failed"

The output of canopen_motor_node :

SUMMARY
========

PARAMETERS
 * /motor/bus/device: can0
 * /motor/bus/master_allocator: canopen::SimpleMa...
 * /motor/defaults/eff_from_device: 0
 * /motor/defaults/eff_to_device: rint(eff)
 * /motor/defaults/motor_allocator: canopen::Motor402...
 * /motor/defaults/motor_layer/switching_state: 5
 * /motor/defaults/pos_from_device: deg2rad(obj6064)/...
 * /motor/defaults/pos_to_device: rint(rad2deg(pos)...
 * /motor/defaults/vel_from_device: deg2rad(obj606C)/...
 * /motor/defaults/vel_to_device: rint(rad2deg(vel)...
 * /motor/nodes/node1/eds_file: config/605.3150.7...
 * /motor/nodes/node1/eds_pkg: can_test
 * /motor/nodes/node1/id: 3
 * /motor/sync/interval_ms: 10
 * /motor/sync/overflow: 0
 * /robot_description: <robot name="test...
 * /rosdistro: kinetic
 * /rosversion: 1.12.12

NODES
  /
    motor (canopen_motor_node/canopen_motor_node)

auto-starting new master
process[master]: started with pid [2262]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 44e412be-1e62-11e8-bf02-b827eb24e870
process[rosout-1]: started with pid [2275]
started core service [/rosout]
process[motor-2]: started with pid [2291]
[ INFO] [1520026806.993282054]: Using fixed control period: 0.010000000
[ INFO] [1520026811.247544240]: Initializing XXX
[ INFO] [1520026811.248136323]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1520026811.250120750]: Current state: 2 device error: system:0 internal_error: 0 (OK)
abort6060#0, reason: Invalid value for parameter (download only).
Could not process message
[ INFO] [1520026814.326695801]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ INFO] [1520026814.327013249]: Current state: 0 device error: system:0 internal_error: 0 (OK)
Did not receive a response message
[ERROR] [1520026815.327043770]: /tmp/binarydeb/ros-kinetic-canopen-master-0.7.6/src/sdo.cpp(429): Throw in function void canopen::SDOClient::transmitAndWait(const canopen::ObjectDict::Entry&, const canopen::String&, canopen::String*)
Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<canopen::TimeoutException> >
std::exception::what: SDO
[canopen::tag_objectdict_key*] = 6061sub0

I investigated the CAN communications and it seems that canopen_motor_node change automatically the drive mode to homing.

  can0  603   [8]  40 61 60 00 00 00 00 00 # Mode request
  can0  583   [8]  4F 61 60 00 01 00 00 00 # Controller in position mode
  can0  603   [8]  2F 60 60 00 06 00 00 00
  can0  583   [8]  60 60 60 00 00 00 00 00
  can0  183   [2]  37 00
  can0  283   [6]  37 00 4C 00 00 00
  can0  383   [6]  37 00 00 00 00 00
  can0  080   [0]
  can0  603   [8]  40 61 60 00 00 00 00 00 # Mode request
  can0  583   [8]  4F 61 60 00 06 00 00 00 # Controller in homing mode

As you can see above the mode is changed from ... (more)