FALHABER BXT with canopen_motor_node. Homing failed

edit

Dear ROS community!

For my Bachelorthesis I have to control Faulhaber BX4 motors with CANopen and CiA 402 standard.

Therefore I have followed this Tutorial to configure the ros_canopen package. The EDS-Files I have downloaded from the manufacturer website.

After I run the service robot/driver/init the motor starts moving but after a few seconds I get the following error and the motor stops:

/$ rosservice call /robot/driver/init 
success: False
message: "homing not attained; Homing failed"

Here you can see the output of the canopen_motor_node launchfile:

SUMMARY
========

CLEAR PARAMETERS
 * /robot/driver/

PARAMETERS
 * /robot/driver/bus/device: can0
 * /robot/driver/defaults/eff_from_device: 0
 * /robot/driver/defaults/eff_to_device: rint(eff)
 * /robot/driver/defaults/motor_allocator: canopen::Motor402...
 * /robot/driver/defaults/pos_from_device: deg2rad(obj6064)/...
 * /robot/driver/defaults/pos_to_device: rint(rad2deg(pos)...
 * /robot/driver/defaults/switching_state: 5
 * /robot/driver/defaults/vel_from_device: deg2rad(obj606C)/...
 * /robot/driver/defaults/vel_to_device: rint(rad2deg(vel)...
 * /robot/driver/joint_state_controller/joints: ['z_axis']
 * /robot/driver/joint_state_controller/publish_rate: 50
 * /robot/driver/joint_state_controller/type: joint_state_contr...
 * /robot/driver/joint_trajectory_controller/action_monitor_rate: 10
 * /robot/driver/joint_trajectory_controller/constraints/goal_time: 0.6
 * /robot/driver/joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.5
 * /robot/driver/joint_trajectory_controller/constraints/z_axis/goal: 0.1
 * /robot/driver/joint_trajectory_controller/constraints/z_axis/trajectory: 0.1
 * /robot/driver/joint_trajectory_controller/joints: ['z_axis']
 * /robot/driver/joint_trajectory_controller/required_drive_mode: 7
 * /robot/driver/joint_trajectory_controller/state_publish_rate: 25
 * /robot/driver/joint_trajectory_controller/stop_trajectory_duration: 0.5
 * /robot/driver/joint_trajectory_controller/topic: test
 * /robot/driver/joint_trajectory_controller/type: position_controll...
 * /robot/driver/joint_trajectory_pid_controller/action_monitor_rate: 10
 * /robot/driver/joint_trajectory_pid_controller/constraints/goal_time: 0.6
 * /robot/driver/joint_trajectory_pid_controller/constraints/stopped_velocity_tolerance: 0.5
 * /robot/driver/joint_trajectory_pid_controller/constraints/z_axis/goal: 0.1
 * /robot/driver/joint_trajectory_pid_controller/constraints/z_axis/trajectory: 0.1
 * /robot/driver/joint_trajectory_pid_controller/gains/z_axis/d: 0.0
 * /robot/driver/joint_trajectory_pid_controller/gains/z_axis/i: 0.0
 * /robot/driver/joint_trajectory_pid_controller/gains/z_axis/i_clamp: 0.0
 * /robot/driver/joint_trajectory_pid_controller/gains/z_axis/p: 0.5
 * /robot/driver/joint_trajectory_pid_controller/joints: ['z_axis']
 * /robot/driver/joint_trajectory_pid_controller/required_drive_mode: 3
 * /robot/driver/joint_trajectory_pid_controller/state_publish_rate: 25
 * /robot/driver/joint_trajectory_pid_controller/stop_trajectory_duration: 0.5
 * /robot/driver/joint_trajectory_pid_controller/topic: test
 * /robot/driver/joint_trajectory_pid_controller/type: position_controll...
 * /robot/driver/nodes/z_axis/eds_file: /config/605.3150....
 * /robot/driver/nodes/z_axis/eds_pkg: robot_description
 * /robot/driver/nodes/z_axis/id: 8
 * /robot/driver/sync/interval_ms: 10
 * /robot/driver/sync/msg: 77f#05
 * /robot/driver/sync/overflow: 0
 * /robot/driver/sync/rate: 20
 * /robot/driver/z_axis_position_controller/joint: z_axis
 * /robot/driver/z_axis_position_controller/required_drive_mode: 1
 * /robot/driver/z_axis_position_controller/type: position_controll...
 * /robot/driver/z_axis_velocity_controller/joint: z_axis
 * /robot/driver/z_axis_velocity_controller/required_drive_mode: 3
 * /robot/driver/z_axis_velocity_controller/type: velocity_controll...
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.11

NODES
  /robot/
    driver (canopen_motor_node/canopen_motor_node)

auto-starting new master
process[master]: started with pid [14655]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 12d76698-04c0-11ec-8126-73994209062f
process[rosout-1]: started with pid [14665]
started core service [/rosout]
process[robot/driver-2]: started with pid [14673]
[ INFO] [1629798355.099489043]: Using fixed control period: 0.010000000
[ INFO] [1629798364.962533665]: Initializing...
[ INFO] [1629798364.962775080]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1629798364.962915549]: Current state: 2 device error: system:0 internal_error: 0 (OK)
[ERROR] [1629798377.042599934]: abort6060#0, reason: Invalid value for parameter (download only).
[ERROR] [1629798377 ...