CANopen - Maxon MCD Epos Error 6061sub0

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Hi all, I'm trying to control the robot described in q#292882, as that question is more general about how to configure all the robot with canopen + ixxat adapter + maxon mcd. I'm openning this new question to try find solution to an specific error that more users say that they have.

At this point, I have configured the canopen node to launch the configuration for the 6 motors.

allow-hotplug can0
iface can0 can static
    bitrate 1000000
    up ip link set $IFACE txqueuelen 20 # uncomment if more than 4 nodes are used

In my launch file I launch the canopen_motor_node

<node ns="hexapodo" name="driver" pkg="canopen_motor_node" type="canopen_motor_node" output="screen" clear_params="true" launch-prefix="">
    <rosparam command="load" file="$(find canopen_chain_node)/config/canopen.yaml" />
</node>

When I try to init the motors (rosservice call /hexapodo/drive/init) I get the next error:

jorge@jorge-ubuntu:~$ rosservice call /hexapodo/driver/init 
success: False
message: "/home/jorge/WS/epos_ws/src/ros_canopen/canopen_master/src/pdo.cpp(359): Throw in\
  \ function void canopen::PDOMapper::Buffer::read(const canopen::ObjectDict::Entry&,\
  \ canopen::String&)\nDynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<std::bad_cast>\
  \ >\nstd::exception::what: std::bad_cast\n[canopen::tag_objectdict_key*] = 6061sub0\n"

The 6061 code is refer to the "Modes of Operation Display"

I try to modify the register [6502] as @Edgar Carrasco told me here and @Mathias Lüdtke adding the default value:

[6502]
ParameterName=Supported Drive Modes
DataType=0x0007
AccessType=const
DefaultValue=0x003F0025
PDOMapping=0
ObjFlags=0x1
ParameterValue=0x003F0025

But the error persist.

Many thanks, Jorge

- - - Edit: I have generate a new DCF file from EPOS_UserInterface and paste @Mathias Lüdtke code, but now, the error is also in the service call:

success: False
message: "/home/jorge/WS/epos_ws/src/ros_canopen/canopen_master/src/pdo.cpp(359): Throw in\
  \ function void canopen::PDOMapper::Buffer::read(const canopen::ObjectDict::Entry&,\
  \ canopen::String&)\nDynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<std::bad_cast>\
  \ >\nstd::exception::what: std::bad_cast\n[canopen::tag_objectdict_key*] = 6061sub0\n\
  ; Transition timeout"

And in the launch terminal:

[ERROR] [1528463248.261114363]: /home/jorge/WS/epos_ws/src/ros_canopen/canopen_master/src/pdo.cpp(359): Throw in function void canopen::PDOMapper::Buffer::read(const canopen::ObjectDict::Entry&, canopen::String&)
Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<std::bad_cast> >
std::exception::what: std::bad_cast
[canopen::tag_objectdict_key*] = 6061sub0

If someone wnats to see the DCF files are in this repository. This is the chronology:

1. MCDEpos_node_1.dcf
2. motor_1_old.dcf
3. motor_1.dcf
4. Node_1.dcf

- - - Edit 2:

As @Mathias Lüdtke recommended me, I check the file with CANeds.

The result is 499 Errors and 41 Warnings detected.

I have upload the errors to the git.

Now, I will try to find how to solve all this errors and warnings.

- - - Edit 3:

I have compared my DCF file with this one.

And also try to copy the 6061sub0 paremeters. But when I launch the node, I have this error:

[ERROR] [1528795391.251278454]: /home/jorge/WS/epos_ws/src/ros_canopen/canopen_master/include/canopen_master/objdict.h(224): Throw in function const EntryConstSharedPtr& canopen::ObjectDict ...