Revision history [back]

First I don't understand why your CANopen node should send the msg 707#00. That would be the boot-up message from your node 7 (the node you are trying to control) I would rather do something like 701#05. Second, you should double-check your EDS. The value you are are trying to pull 2000sub01 is not mapped in your PDOs. (So Ros CANopen is gonna use SDO) The problem apparently comes from your PDO mapping (from your EDS file). First, you have two PDO activated (180 and 280+id) (1800 and 1801). You have to check that they are correctly mapped (1A00 and 1A01) 1A00 says you have two entries. 1A00sub01 as DefaultValue=0x60000108 it means that you want to map 0x08 bits from the object 6000sub01 You are indicating the object 6000sub01 which doesn't exist in your EDS. If you look at the second PDO 1A01sub01 default value is DefaultValue=0x64010110 and object 6401sub01 exist in your EDS it's Analogue Input 1.

So either you deactivated the first TPDO (1800) or you remap it (1A00) with for example your 2000sub01 value

Let me know if it works