state is OP, but motor isn't enabled

[MrCCaesar]

I'm using generic cia402 plugin to work woth elmo driver, but after launch the node, the motor is not enabled, the result of ethercat slaves is all OP + 0 0:0 OP + 0x0000009a:0x00030924; and the launch output is
[INFO] [launch]: All log files can be found below /home/wlr/.ros/log/2023-05-02-21-01-39-828618-wlr-SBC-T875-5600
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [5602]
[INFO] [robot_state_publisher-2]: process started with pid [5604]
[INFO] [spawner-3]: process started with pid [5606]
[robot_state_publisher-2] [WARN] [1683032500.483305839] [kdl_parser]: The root link pelvic has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-2] [INFO] [1683032500.483528196] [robot_state_publisher]: got segment left_calf
[robot_state_publisher-2] [INFO] [1683032500.483611316] [robot_state_publisher]: got segment left_elbow_link
[robot_state_publisher-2] [INFO] [1683032500.483625323] [robot_state_publisher]: got segment left_hip_roll_link
[robot_state_publisher-2] [INFO] [1683032500.483635805] [robot_state_publisher]: got segment left_hip_yaw_link
[robot_state_publisher-2] [INFO] [1683032500.483646174] [robot_state_publisher]: got segment left_shoulder_pitch_link
[robot_state_publisher-2] [INFO] [1683032500.483656827] [robot_state_publisher]: got segment left_shoulder_roll_link
[robot_state_publisher-2] [INFO] [1683032500.483666843] [robot_state_publisher]: got segment left_shoulder_yaw_link
[robot_state_publisher-2] [INFO] [1683032500.483676630] [robot_state_publisher]: got segment left_thigh
[robot_state_publisher-2] [INFO] [1683032500.483686696] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-2] [INFO] [1683032500.483696550] [robot_state_publisher]: got segment pelvic
[robot_state_publisher-2] [INFO] [1683032500.483706591] [robot_state_publisher]: got segment right_calf
[robot_state_publisher-2] [INFO] [1683032500.483716387] [robot_state_publisher]: got segment right_elbow_link
[robot_state_publisher-2] [INFO] [1683032500.483726448] [robot_state_publisher]: got segment right_hip_roll_link
[robot_state_publisher-2] [INFO] [1683032500.483736559] [robot_state_publisher]: got segment right_hip_yaw_link
[robot_state_publisher-2] [INFO] [1683032500.483746458] [robot_state_publisher]: got segment right_shoulder_pitch_link
[robot_state_publisher-2] [INFO] [1683032500.483756602] [robot_state_publisher]: got segment right_shoulder_roll_link
[robot_state_publisher-2] [INFO] [1683032500.483766469] [robot_state_publisher]: got segment right_shoulder_yaw_link
[robot_state_publisher-2] [INFO] [1683032500.483776441] [robot_state_publisher]: got segment right_thigh
[robot_state_publisher-2] [INFO] [1683032500.483786412] [robot_state_publisher]: got segment right_wheel
[robot_state_publisher-2] [INFO] [1683032500.483796358] [robot_state_publisher]: got segment upper_body
[ros2_control_node-1] [INFO] [1683032500.499043010] [resource_manager]: Loading hardware 'wlrzj_electronic'
[ros2_control_node-1] [INFO] [1683032500.502325383] [resource_manager]: Initialize hardware 'wlrzj_electronic'
[ros2_control_node-1] [INFO] [1683032500.502402848] [EthercatDriver]: joints
[ros2_control_node-1] [INFO] [1683032500.505862600] [EthercatDriver]: joints
[ros2_control_node-1] [INFO] [1683032500.507416289] [EthercatDriver]: joints
[ros2_control_node-1] [INFO] [1683032500.508942895] [EthercatDriver]: joints
[ros2_control_node-1] [INFO] [1683032500.510420593] [EthercatDriver]: Got 4 modules
[ros2_control_node-1] [INFO] [1683032500.510446175] [resource_manager]: Successful initialization of hardware 'wlrzj_electronic'
[ros2_control_node-1] [INFO] [1683032500.510519468] [resource_manager]: 'configure' hardware 'wlrzj_electronic'
[ros2_control_node-1] [INFO] [1683032500.510529485] [resource_manager]: Successful 'configure' of hardware 'wlrzj_electronic'
[ros2_control_node-1] [INFO] [1683032500.510538699] [resource_manager]: 'activate' hardware 'wlrzj_electronic'
[ros2_control_node-1] [INFO] [1683032500.510546649] [EthercatDriver]: Starting ...please wait...
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x6040, 0x0}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x607a, 0x0}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x60ff, 0x0}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x6071, 0x0}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x60b0, 0x0}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x60b1, 0x0}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x60b2, 0x0}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x6060, 0x0}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x2078, 0x1}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x60b8, 0x0}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x6041, 0x0}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x6064, 0x0}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x606c, 0x0}
[ros2_control_node-1] {0, 0, 0x9a, 0x30924, 0x6061, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x6040, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x607a, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x60ff, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x6071, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x60b0, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x60b1, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x60b2, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x6060, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x2078, 0x1}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x60b8, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x6041, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x6064, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x606c, 0x0}
[ros2_control_node-1] {0, 1, 0x9a, 0x30924, 0x6061, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x6040, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x607a, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x60ff, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x6071, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x60b0, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x60b1, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x60b2, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x6060, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x2078, 0x1}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x60b8, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x6041, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x6064, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x606c, 0x0}
[ros2_control_node-1] {0, 2, 0x9a, 0x30924, 0x6061, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x6040, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x607a, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x60ff, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x6071, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x60b0, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x60b1, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x60b2, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x6060, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x2078, 0x1}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x60b8, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x6041, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x6064, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x606c, 0x0}
[ros2_control_node-1] {0, 3, 0x9a, 0x30924, 0x6061, 0x0}
[ros2_control_node-1] [INFO] [1683032500.511178327] [EthercatDriver]: Activated EcMaster!
[ros2_control_node-1] 4 slave(s).
[ros2_control_node-1] Master AL states: 0x02.
[ros2_control_node-1] Link is up.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Slave: online.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Slave: online.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Slave: online.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Slave: online.
[ros2_control_node-1] STATE: Not Ready to Switch On with status word :0
[ros2_control_node-1] STATE: Not Ready to Switch On with status word :0
[ros2_control_node-1] STATE: Not Ready to Switch On with status word :0
[ros2_control_node-1] STATE: Not Ready to Switch On with status word :0
[ros2_control_node-1] [INFO] [1683032501.511562340] [EthercatDriver]: updated!
[ros2_control_node-1] [INFO] [1683032501.511603556] [EthercatDriver]: System Successfully started!
[ros2_control_node-1] [INFO] [1683032501.511618131] [resource_manager]: Successful 'activate' of hardware 'wlrzj_electronic'
[ros2_control_node-1] [INFO] [1683032501.518462313] [controller_manager]: update rate is 100 Hz
[ros2_control_node-1] [INFO] [1683032501.518820748] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-1] [INFO] [1683032501.578940988] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-3] [INFO] [1683032501.590461500] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1683032501.592068998] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1683032501.592257139] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-3] [INFO] [1683032501.620573105] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-3]: process has finished cleanly [pid 5606]
[INFO] [spawner-4]: process started with pid [5649]
[ros2_control_node-1] Slave: State 0x01.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Domain: WC 1.
[ros2_control_node-1] Domain: State 1.
[ros2_control_node-1] STATE: Fault Reaction Active with status word :53775
[ros2_control_node-1] [INFO] [1683032502.307148684] [controller_manager]: Loading controller 'wlrzj_position_controller'
[spawner-4] [INFO] [1683032502.349735410] [spawner_wlrzj_position_controller]: Loaded wlrzj_position_controller
[ros2_control_node-1] [INFO] [1683032502.351252680] [controller_manager]: Configuring controller 'wlrzj_position_controller'
[ros2_control_node-1] [INFO] [1683032502.352374653] [wlrzj_position_controller]: configure successful
[ros2_control_node-1] [INFO] [1683032502.359094586] [wlrzj_position_controller]: activate successful
[spawner-4] [INFO] [1683032502.370400458] [spawner_wlrzj_position_controller]: Configured and activated wlrzj_position_controller
[INFO] [spawner-4]: process has finished cleanly [pid 5649]
[ros2_control_node-1] Domain: WC 3.
[ros2_control_node-1] Slave: State 0x08.
[ros2_control_node-1] Slave: operational.
[ros2_control_node-1] Slave: State 0x01.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Domain: WC 4.
[ros2_control_node-1] STATE: Undefined State with status word :8052
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ros2_control_node-1] [INFO] [1683032584.991717728] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-2] [INFO] [1683032584.991722042] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-1] Domain: WC 6.
[ros2_control_node-1] Slave: State 0x08.
[ros2_control_node-1] Slave: operational.
[ros2_control_node-1] Slave: State 0x01.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Domain: WC 7.
[ros2_control_node-1] Domain: WC 9.
[ros2_control_node-1] Slave: State 0x08.
[ros2_control_node-1] Slave: operational.
[ros2_control_node-1] Slave: State 0x01.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Domain: WC 10.
[ros2_control_node-1] Domain: WC 12.
[ros2_control_node-1] Domain: State 2.
[ros2_control_node-1] Master AL states: 0x08.
[ros2_control_node-1] Slave: State 0x08.
[ros2_control_node-1] Slave: operational.

How can i fix this? thanks

[mcbed]

Hi @MrCCaesar ,
It looks like one of your drives is ill-configured and another in fault state

[ros2_control_node-1] STATE: Fault Reaction Active with status word :53775
[ros2_control_node-1] STATE: Undefined State with status word :8052

use the controller from PR #61 to see which drive
Also, OP is the state of your EtherCAT communication module and not the functional drive state

[MrCCaesar]

Hi @MrCCaesar , It looks like one of your drives is ill-configured and another in fault state

[ros2_control_node-1] STATE: Fault Reaction Active with status word :53775
[ros2_control_node-1] STATE: Undefined State with status word :8052

use the controller from PR #61 to see which drive Also, OP is the state of your EtherCAT communication module and not the functional drive state

Thanks, I have tried. And no more this kind of fault, but motor seems still don't work properly. Motor can't get in to Operation Enable state, I have tried use SOEM, that works; but does't work with ros2_control. Is this because of my driver elmo's config.yaml have problem?

[mcbed]

Hi @MrCCaesar ,
can you post your config yam file ?

[MrCCaesar]

Hi @MrCCaesar , can you post your config yam file ?

Yes ,and sorry for delayed @mcbed .This my config for elmo right now https://gist.github.com/MrCCaesar/52c53485bc7ce0b9d23da4df75fed818 .Thanks for your patient

[MrCCaesar]

After I changed my config file according to https://github.com/leggedrobotics/elmo_ethercat_sdk/tree/feature/ament_cmake's RxPDO.h and TxPDO.h, it worked.. But I got a new question, when I run generic_cia402_controller , it shows both slaves are in Operation Enabled mode.

[ros2_control_node-1] 4 slave(s).
[ros2_control_node-1] Master AL states: 0x02.
[ros2_control_node-1] Link is up.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Slave: online.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Slave: online.
[ros2_control_node-1] STATE: Not Ready to Switch On with status word :0
[ros2_control_node-1] STATE: Not Ready to Switch On with status word :0
[ros2_control_node-1] [INFO] [1689923365.886981284] [EthercatDriver]: updated!
[ros2_control_node-1] [INFO] [1689923365.887026604] [EthercatDriver]: System Successfully started!
[ros2_control_node-1] [INFO] [1689923365.887042180] [resource_manager]: Successful 'activate' of hardware 'wlrzj_electronic'
[ros2_control_node-1] [INFO] [1689923365.894376820] [controller_manager]: update rate is 100 Hz
[ros2_control_node-1] [INFO] [1689923365.894691246] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-1] [INFO] [1689923365.947136939] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-3] [INFO] [1689923365.966423426] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1689923365.968258076] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1689923365.968431432] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-3] [INFO] [1689923365.996625416] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-3]: process has finished cleanly [pid 64168]
[INFO] [spawner-4]: process started with pid [64211]
[ros2_control_node-1] [INFO] [1689923366.946834541] [controller_manager]: Loading controller 'generic_cia402_controller'
[spawner-4] [INFO] [1689923366.999900902] [spawner_generic_cia402_controller]: Loaded generic_cia402_controller
[ros2_control_node-1] [INFO] [1689923367.001463546] [controller_manager]: Configuring controller 'generic_cia402_controller'
[ros2_control_node-1] [INFO] [1689923367.004769259] [generic_cia402_controller]: configure successful
[spawner-4] [INFO] [1689923367.026270183] [spawner_generic_cia402_controller]: Configured and activated generic_cia402_controller
[INFO] [spawner-4]: process has finished cleanly [pid 64211]
[ros2_control_node-1] Slave: State 0x01.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Domain: WC 1.
[ros2_control_node-1] Domain: State 1.
[ros2_control_node-1] STATE: Switch on Disabled with status word :592
[ros2_control_node-1] Domain: WC 3.
[ros2_control_node-1] Slave: State 0x04.
[ros2_control_node-1] Slave: State 0x08.
[ros2_control_node-1] Slave: operational.
[ros2_control_node-1] Slave: State 0x01.
[ros2_control_node-1] STATE: Ready to Switch On with status word :4657
[ros2_control_node-1] STATE: Switch On with status word :4659
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] STATE: Operation Enabled with status word :5687
[ros2_control_node-1] Domain: WC 4.
[ros2_control_node-1] STATE: Switch on Disabled with status word :592
[ros2_control_node-1] Domain: WC 6.
[ros2_control_node-1] Domain: State 2.
[ros2_control_node-1] Slave: State 0x08.
[ros2_control_node-1] Slave: operational.
[ros2_control_node-1] STATE: Ready to Switch On with status word :4657
[ros2_control_node-1] STATE: Switch On with status word :4659
[ros2_control_node-1] STATE: Operation Enabled with status word :5687

When I run ros2 topic echo /generic_cia402_controller/drive_states, it shows

---
header:
  stamp:
    sec: 1689922972
    nanosec: 149206033
  frame_id: ''
dof_names:
- lw
- rw
drive_states:
- STATE_NOT_READY_TO_SWITCH_ON
- STATE_NOT_READY_TO_SWITCH_ON
modes_of_operation:
- MODE_UNDEFINED
- MODE_UNDEFINED
status_words:
- 0
- 0
---

it seems not consist with ros2 launch output. Am i misunderstanding the states here or some @mcbed Thanks.

This is my controller config file

controller_manager:
  ros__parameters:
    update_rate: 100  # Hz

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    generic_cia402_controller:
      type: ethercat_controllers/CiA402Controller

generic_cia402_controller:
  ros__parameters:
    dofs:
      - lw
      - rw

And this is my ros2_control.urdf.xacro file

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <!-- the communication is done on actuator level using proprietary or standardized API  -->
    <!-- Data for all actuators and sensors is exchanged separately from each other -->
    <xacro:macro name="wlrzj_electronic_actuator" params="name prefix">
        <ros2_control name="${name}_electronic" type="system">
            <hardware>
                <plugin>ethercat_driver/EthercatDriver</plugin>
                <param name="master_id">0</param>
                <param name="control_frequency">100</param>
            </hardware>
            <joint name="${prefix}rw">
                <state_interface name="velocity"/>
                <state_interface name="position"/>
                <state_interface name="reset_fault"/>
                <state_interface name="mode_of_operation" />
                <state_interface name="status_word" />
                <command_interface name="velocity"/>
                <command_interface name="control_word"/>
                <command_interface name="mode_of_operation"/>
                <command_interface name="reset_fault" />
                <ec_module name="elmo_gold">
                    <plugin>ethercat_generic_plugins/EcCiA402Drive</plugin>
                    <param name="alias">0</param>
                    <param name="position">2</param>
                    <param name="mode_of_operation">3</param>
                    <param name="slave_config">$(find wlrzj_description)/config/elmo.yaml</param>
                </ec_module>
            </joint>
            <joint name="${prefix}lw">
                <state_interface name="velocity"/>
                <state_interface name="position"/>
                <state_interface name="reset_fault"/>
                <state_interface name="mode_of_operation" />
                <state_interface name="status_word" />
                <command_interface name="velocity"/>
                <command_interface name="control_word"/>
                <command_interface name="mode_of_operation"/>
                <command_interface name="reset_fault" />
                <ec_module name="elmo_gold">
                    <plugin>ethercat_generic_plugins/EcCiA402Drive</plugin>
                    <param name="alias">0</param>
                    <param name="position">3</param>
                    <param name="mode_of_operation">3</param>
                    <param name="slave_config">$(find wlrzj_description)/config/elmo.yaml</param>
                </ec_module>
            </joint>
        </ros2_control>
    </xacro:macro>
</robot>

and this is my elmo.yaml

vendor_id: 0x0000009a
product_id: 0x00030924
assign_activate: 0x0300  # DC Synch register
auto_fault_reset: true  # true = automatic fault reset, false = fault reset on rising edge command interface "reset_fault"
sdo:  # sdo data to be transferred at drive startup
  - {index: 0x60C2, sub_index: 1, type: int8, value: 10} # Set interpolation time for cyclic modes to 10 ms
  - {index: 0x60C2, sub_index: 2, type: int8, value: -3} # Set base 10-3s
rpdo:  # RxPDO = receive PDO Mapping
  - index: 0x1605
    channels:
      - {index: 0x607a, sub_index: 0, type: int32, default: .nan}  # Target position
      - {index: 0x60ff, sub_index: 0, type: int32, command_interface: velocity, default: .nan}  # Target velocity
      - {index: 0x6071, sub_index: 0, type: int16, default: .nan}  # Target torque
      - {index: 0x6072, sub_index: 0, type: uint16, default: 0} #Max torque
      - {index: 0x6040, sub_index: 0, type: uint16, command_interface: control_word, default: 0}  # Control word
      - {index: 0x6060, sub_index: 0, type: int8, command_interface: mode_of_operation, default: 0}  # Mode of operation
tpdo:  # TxPDO = transmit PDO Mapping
  - index: 0x1a03
    channels:
      - {index: 0x6064, sub_index: 0, type: int32, state_interface: position}  # Position actual value
      - {index: 0x60fd, sub_index: 0, type: int32} # Digital Inputs
      - {index: 0x606c, sub_index: 0, type: int32, state_interface: velocity}  # Velocity actual value
      - {index: 0x6041, sub_index: 0, type: uint16, state_interface: status_word}  # Status word
  - index: 0x1a1d
     channels:
       - {index: 0x2205, sub_index: 1, type: int16} #Analog Input1
  - index: 0x1a1f
     channels:
       - {index: 0x6078, sub_index: 0, type: int16} #Current actual value
  - index: 0x1a18
     channels:
       - {index: 0x6079, sub_index: 0, type: uint32} #DC link circuit voltage

[mcbed]

Hi @MrCCaesar,
it looks like the controller is not reading the status word of your drive, thus the results. Are you sure about the names lw, rw as there is some prefix in urdf ?

[MrCCaesar]

Hi @MrCCaesar, it looks like the controller is not reading the status word of your drive, thus the results. Are you sure about the names lw, rw as there is some prefix in urdf ?

yes, the prefix is empty. And somehow this is now working, but i have to make the name of ec_module different, or only one of this 2 motor works, and that would always be the motor in position 3, is this a bug or just a feature? Thanks @mcbed