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This could be a bug. (Either in ros_canopen or the motor controller)
abort1001#0, reason: Client/server command specifier not valid or unknown.
Not sure why the controller aborts the read request.
Could not process message
This error was printed because of the abort. It's a little bit redundant.
discarded message
An SDO message was received, but we did not expect one. Normally, this should not happen.
Please try to create a short candump log that contains the full communication.
abort606c#0, reason: Client/server command specifier not valid or unknown.
It looks like, 606C is read via SDO and not PDO. This might lead to problems because it blocks the control cycle.
Please check your PDO mapping (again).
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