Mode 7 is not available for rig1_plate_joint [closed]

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I want to use Interpolated Position mode to motors motion, so i use the node canopen_motor_node with operation modes ID.7

There is an error：　

[ERROR] [1543196493.734653465]: Mode 7 is not available for rig1_plate_joint 

[ERROR] [1543196493.734755167]: Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible. 

[ERROR] [1543196493.735180]: Failed to start controllers: joint_trajectory_controller

my controller manager yaml file:

joint_trajectory_controller:
  type: position_controllers/JointTrajectoryController
  topic: "test"
  joints:
    - rig1_plate_joint
  constraints:
    goal_time: 0.6
    stopped_velocity_tolerance: 0.5
    rig1_plate_joint: {trajectory: 0.1, goal: 0.1}
  stop_trajectory_duration: 0.5
  state_publish_rate:  25
  action_monitor_rate: 10
  required_drive_mode: 7

So hardware_interface::PositionJointInterface can accept IP mode(ID.7) ? Right?

May my eds or def file has problem? I use the copley canopen controls, who can share your eds file with me?

Why i will meet this error when use the canopen_test_utils package? Who can enlighten me? Thx very much!!