ros_canopen interpolated position mode, time period?

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First of all, [ WARN] RPDO timeout and 60C2 are not related.

The warnings gets printed if the driver does not receive a particular PDO from one or more nodes. The latter is the interpolation period, which is the time to keep moving after the last command.

If the interpolation time is exceeded, the motor will raise an EMCY. I would set it to 15ms or 20ms (a little bit higher than the sync interval) to not stop the drive if the sync arrives a little bit too late.

Based on your description, I would guess that there is something wrong with the wiring or one or more connections. (In my experience this is the most common cause for such problems.)

Another cause might be a wrong transmission type setting. I recommend transmission type 1 for all cyclic data. Of course, there might be a bug in ros_canopen..

I suspect, that something is wrongly set up in the interpolation mode (since before, when i drove the motors in profile position mode, i did not have the above issue).

Profiled position mode is less susceptible to connection / SYNC problems, because it just executes the last command and stops.

I want to ask, if the aforementioned parameters are set correctly?

The settings are fine, but I would increase the intepolation period a little bit.

Should i increase the sync?

Changing the sync inteval will just cover the root cause or will make it worse.

What do you recommend?

1. Check your wiring.
2. Check the transmission type
3. Match the warning against the CAN log