How to control Faulhaber AES-4096 Motor by using ROS_CANopen?

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Hello everyone, I'd like to control (initialize and send can messages) to the Faulhaber motors.

I've downloaded the ros_canopen package and I've build it successfully in ubuntu kinetic OS.

I've run in cmd the following commands: 1)sudo modprobe peak_usb 2)sudo modprobe peak_pci 3)sudo modprobe pcan 4)sudo modprobe esd_usb2 5)sudo ip link set can0 up type can bitrate 500000 in the first cmd window.

the following command: 1) rosrun socketcan_bridge socketcan_bridge_node in a second cmd window

and: 1)rostopic echo /received_messages in a last cmd window.

I try to use the frames to initiate the motors. I'm not sure though how I can send the messages in the can.

I've tried: -cansend can0 (123#1122334455667788) can_id#data format for the frame but in the third cmd window the received message is not right.

In the data field I send the bytes in HEX, in the way I want the motors to receive them, but the data are returned differently. The motors aren't initiated.

So, here are my questions:

1) Are EDS/DCF files necessary for only the motor?

2) Can anyone guide me so that I can send the frame message correctly?

3) What would be and how could I send the header?

4)Is a mask already by default running? If so, how do I have to send the data to initiate the motor?

5)Finally, the frame.id="", I know is the default value, but shouldn't I receive the frame I sent?

Thank you!

Thank you in advance! :)