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EMCY error message: 81#2032040000000000 , does anyone know what it refers to?
These EMCY message must be documented in the manual.
You might have to recover from that error!
Check /diagnostics
Do you know where this "initial" position command might come from?
Normally, there should not be any "initial position".
JointPositionController should use the current position at start-up.
Try to decode your PDOs in your candump to see what actually gets command. Actually, it looks like you are commanding the target per SDO (which is fine).
even though my position commands is 0.
Where is "0"? Did you configure homing? Are you using an absolute encoder? Are you reading the position from the corresponding object?
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