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It does not seem to work if multiple PDOs are assigned the same ID. In your case, it seems that 6040 and 6041 are assigned to multiple PDOs. Assigning it to one of the PDOs may improve things.

Also, since you set required_drive_mode: 1, I assume you want to run it as Profiled Position. In that case, you need to have 607A mapped to PRDO.

In addition, it is recommended to map 6061.

ref http://wiki.ros.org/canopen_402#Overview

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