ros_canopen driver init failed with Kollmorgen RGM

asked 2018-09-24 09:35:16 -0500

Jack Liu gravatar image

updated 2018-09-24 10:11:33 -0500

I use the ros_canopen driver for Kollmorgen RGM. After start the ros node canopen_motor_node, I run the initial driver

rosservice call /arm/driver/init

The output is

success: False
message: "Transition timeout; Could not enable motor"

And the output from canopen_motor_node is:

[ INFO] [1537756949.778140475]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[New Thread 0x7fffc7547700 (LWP 9656)]
[ INFO] [1537756949.778630198]: Current state: 2 device error: system:0 internal_error: 0 (OK)
[New Thread 0x7fffc6d46700 (LWP 9657)]
[ INFO] [1537756952.890460416]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1537756956.795575493]: Current state: 2 device error: system:125 internal_error: 0 (OK)
[ INFO] [1537756956.795698509]: Current state: 0 device error: system:125 internal_error: 0 (OK)
[ INFO] [1537756956.795766744]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[Thread 0x7fffc6d46700 (LWP 9657) exited]
[ INFO] [1537756956.795854967]: Current state: 0 device error: system:0 internal_error: 0 (OK)
 [Thread 0x7fffc7547700 (LWP 9656) exited]
[Thread 0x7fffc7d48700 (LWP 9655) exited]

[Thread 0x7fffc7d48700 (LWP 9655) exited]

The output from candump

 can0  000   [2]  82 01
  can0  701   [1]  00
  can0  601   [8]  2B 17 10 00 00 00 00 00
  can0  581   [8]  60 17 10 00 00 00 00 00
  can0  601   [8]  40 41 60 00 00 00 00 00
  can0  581   [8]  4B 41 60 00 70 17 00 00
  can0  601   [8]  40 61 60 00 00 00 00 00
  can0  581   [8]  4F 61 60 00 06 17 00 00
  can0  601   [8]  40 64 60 00 00 00 00 00
  can0  581   [8]  43 64 60 00 28 B3 04 00
  can0  601   [8]  40 6C 60 00 00 00 00 00
  can0  581   [8]  43 6C 60 00 00 00 00 00
  can0  601   [8]  40 77 60 00 00 00 00 00
  can0  581   [8]  4B 77 60 00 00 00 00 00
  can0  601   [8]  40 FD 60 00 00 00 00 00
  can0  581   [8]  43 FD 60 00 08 00 00 00
  can0  601   [8]  40 40 60 00 00 00 00 00
  can0  581   [8]  4B 40 60 00 04 00 00 00
  can0  601   [8]  40 60 60 00 00 00 00 00
  can0  581   [8]  4F 60 60 00 06 00 00 00
  can0  601   [8]  40 7A 60 00 00 00 00 00
  can0  581   [8]  43 7A 60 00 00 00 08 00
  can0  601   [8]  40 FF 60 00 00 00 00 00
  can0  581   [8]  43 FF 60 00 00 00 00 00
  can0  601   [8]  40 71 60 00 00 00 00 00
  can0  581   [8]  4B 71 60 00 00 00 00 00
  can0  000   [2]  01 01
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0  080   [0] 
  can0 ...
(more)
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Jack Liu gravatar imageJack Liu ( 2018-09-24 23:31:52 -0500 )edit