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Problem in profile positioning #372

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superlogan72 opened this issue Apr 12, 2023 · 5 comments
Open

Problem in profile positioning #372

superlogan72 opened this issue Apr 12, 2023 · 5 comments

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@superlogan72
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Hello this is my short script, but actually the servo never move, he goes in run ( i can't turn in but it never move), did you have some ideas?
import canopen
import sys
import os
import traceback
import time
import logging
logging.basicConfig(level=logging.DEBUG)

try:

# Start with creating a network representing one CAN bus
os.system('sudo ip link set can0 up type can bitrate 500000')
network = canopen.Network()
network.connect(bustype="socketcan", channel='can0')

network.check()

# Add some nodes with corresponding Object Dictionaries
node = canopen.BaseNode402(1, '/home/pi/Desktop/TBS3.eds')
network.add_node(node)
# Reset network
node.nmt.wait_for_bootup(15)

print('node state 1) = {0}'.format(node.nmt.state))
# Iterate over arrays or records
error_log = node.sdo[0x1003]
for error in error_log.values():
    print("Error {0} was found in the log".format(error.raw))

for node_id in network:
    print(network[node_id])

print('node state 2) = {0}'.format(node.nmt.state))

# Transmit SYNC 
network.sync.start(0.02)

node.load_configuration()
print('node state 3) = {0}'.format(node.nmt.state))
node.tpdo[1].clear()
node.tpdo[1].add_variable(0x6041)
node.tpdo[1].add_variable(0x6061)
node.tpdo[1].add_variable(0x606C)

node.tpdo[1].trans_type = 1
node.tpdo[1].enabled = True
node.tpdo.save()
node.rpdo[1].clear()
node.rpdo[1].add_variable(0x6040)
node.rpdo[1].add_variable(0x6060)
node.rpdo[1].add_variable(0x60FF)
node.rpdo[1].enabled = True
node.rpdo.save()
time.sleep(1)

node.setup_402_state_machine()

device_name = node.sdo[0x1008].raw
vendor_id = node.sdo[0x1018][1].raw

print(device_name)
print(vendor_id)
node.sdo[0x6085].raw=2500000
node.sdo[0x6060].raw=1
node.sdo[0x6040].raw= 0x06
node.sdo[0x6040].raw= 0x0F
node.sdo[0x607A].raw= 100000
node.sdo[0x6081].raw=58333
node.sdo[0x6083].raw=1000000
node.sdo[0x6084].raw=1000000
node.sdo[0x6067].raw=1000
node.sdo[0x6068].raw=100
node.sdo[0x6040].raw=0x1F
node.sdo[0x6040].raw=0x0F
control = node.sdo[0x6041].raw
print('Pos:', node.sdo[0x6064].raw)

except:
pass
finally:
print('going to exit... stopping...')
if network:

    for node_id in network:
        node = network[node_id]
        node.nmt.state = 'PRE-OPERATIONAL'
        node.nmt.stop_node_guarding()
    network.sync.stop()
    network.disconnect()

Here is the debug:

%Run quasi_can_posizione_linux.py
DEBUG:can:can config: {'channel': 'can0', 'interface': 'socketcan'}
INFO:can.interfaces.socketcan.socketcan:Created a socket
DEBUG:can.interfaces.socketcan.socketcan:Binding socket to channel=can0
DEBUG:can.interfaces.socketcan.socketcan:Bound socket.
INFO:canopen.network:Connected to 'socketcan channel 'can0''
DEBUG:canopen.pdo:TPDO Map as 8
DEBUG:canopen.pdo:RPDO Map as 8
INFO:canopen.nmt:Changing NMT state on node 1 from INITIALISING to INITIALISING
INFO:canopen.nmt:Sending NMT command 0x82 to node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0000 S Rx DL: 2 82 01
DEBUG:canopen.nmt:Received heartbeat can-id 1793, state is 0
node state 1) = PRE-OPERATIONAL
DEBUG:canopen.sdo.client:Reading 0x1003:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 03 10 00 00 00 00 00
DEBUG:canopen.variable:Value of Predefined Error Field.Number of Errors (0x1003:0) is 0
<canopen.profiles.p402.BaseNode402 object at 0x7f93db19d0>
node state 2) = PRE-OPERATIONAL
DEBUG:can.interfaces.socketcan.socketcan:Reading properties of (cyclic) transmission task id=1
DEBUG:can.interfaces.socketcan.socketcan:Invalid argument - transmission task not known to kernel
DEBUG:can.interfaces.socketcan.socketcan:Sending BCM command
DEBUG:canopen.sdo.client:Reading 0x1400:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 00 14 01 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 1 Communication Parameter.COB-ID used by PDO (0x1400:1) is 513
INFO:canopen.pdo.base:COB-ID is 0x201
INFO:canopen.pdo.base:PDO is enabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1400:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 00 14 02 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 1 Communication Parameter.Transmission Type (0x1400:2) is 0
INFO:canopen.pdo.base:Transmission type is 0
DEBUG:canopen.sdo.client:Reading 0x1600:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 00 16 00 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 1 Mapping Parameter.Number of mapped objects (0x1600:0) is 1
DEBUG:canopen.sdo.client:Reading 0x1600:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 00 16 01 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 1 Mapping Parameter.1. mapped object (0x1600:1) is 805306384
WARNING:canopen.pdo.base:'0x3000 was not found in Object Dictionary'
INFO:canopen.pdo.base:Subscribing to enabled PDO 0x201 on the network
DEBUG:canopen.sdo.client:Reading 0x1401:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 01 14 01 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 2 Communication Parameter.COB-ID used by PDO (0x1401:1) is 769
INFO:canopen.pdo.base:COB-ID is 0x301
INFO:canopen.pdo.base:PDO is enabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1401:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 01 14 02 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 2 Communication Parameter.Transmission Type (0x1401:2) is 0
INFO:canopen.pdo.base:Transmission type is 0
DEBUG:canopen.sdo.client:Reading 0x1601:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 01 16 00 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 2 Mapping Parameter.Number of mapped objects (0x1601:0) is 2
DEBUG:canopen.sdo.client:Reading 0x1601:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 01 16 01 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 2 Mapping Parameter.1. mapped object (0x1601:1) is 805306384
WARNING:canopen.pdo.base:'0x3000 was not found in Object Dictionary'
DEBUG:canopen.sdo.client:Reading 0x1601:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 01 16 02 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 2 Mapping Parameter.2. mapped object (0x1601:2) is 807403536
WARNING:canopen.pdo.base:'0x3020 was not found in Object Dictionary'
INFO:canopen.pdo.base:Subscribing to enabled PDO 0x301 on the network
DEBUG:canopen.sdo.client:Reading 0x1402:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 02 14 01 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 3 Communication Parameter.COB-ID used by PDO (0x1402:1) is 1025
INFO:canopen.pdo.base:COB-ID is 0x401
INFO:canopen.pdo.base:PDO is enabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1402:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 02 14 02 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 3 Communication Parameter.Transmission Type (0x1402:2) is 0
INFO:canopen.pdo.base:Transmission type is 0
DEBUG:canopen.sdo.client:Reading 0x1602:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 02 16 00 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 3 Mapping Parameter.Number of mapped objects (0x1602:0) is 2
DEBUG:canopen.sdo.client:Reading 0x1602:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 02 16 01 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 3 Mapping Parameter.1. mapped object (0x1602:1) is 805306384
WARNING:canopen.pdo.base:'0x3000 was not found in Object Dictionary'
DEBUG:canopen.sdo.client:Reading 0x1602:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 02 16 02 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 3 Mapping Parameter.2. mapped object (0x1602:2) is 807796752
WARNING:canopen.pdo.base:'0x3026 was not found in Object Dictionary'
INFO:canopen.pdo.base:Subscribing to enabled PDO 0x401 on the network
DEBUG:canopen.sdo.client:Reading 0x1403:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 03 14 01 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 4 Communication Parameter.COB-ID used by PDO (0x1403:1) is 2147484929
INFO:canopen.pdo.base:COB-ID is 0x501
INFO:canopen.pdo.base:PDO is disabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1403:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 03 14 02 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 4 Communication Parameter.Transmission Type (0x1403:2) is 0
INFO:canopen.pdo.base:Transmission type is 0
DEBUG:canopen.sdo.client:Reading 0x1603:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 03 16 00 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 4 Mapping Parameter.Number of mapped objects (0x1603:0) is 0
DEBUG:canopen.sdo.client:Reading 0x1404:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 04 14 01 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 5 Communication Parameter.COB-ID used by PDO (0x1404:1) is 2147483648
INFO:canopen.pdo.base:COB-ID is 0x0
INFO:canopen.pdo.base:PDO is disabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1404:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 04 14 02 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 5 Communication Parameter.Transmission Type (0x1404:2) is 0
INFO:canopen.pdo.base:Transmission type is 0
DEBUG:canopen.sdo.client:Reading 0x1604:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 04 16 00 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 5 Mapping Parameter.Number of mapped objects (0x1604:0) is 0
DEBUG:canopen.sdo.client:Reading 0x1405:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 05 14 01 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 6 Communication Parameter.COB-ID used by PDO (0x1405:1) is 2147483648
INFO:canopen.pdo.base:COB-ID is 0x0
INFO:canopen.pdo.base:PDO is disabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1405:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 05 14 02 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 6 Communication Parameter.Transmission Type (0x1405:2) is 0
INFO:canopen.pdo.base:Transmission type is 0
DEBUG:canopen.sdo.client:Reading 0x1605:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 05 16 00 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 6 Mapping Parameter.Number of mapped objects (0x1605:0) is 0
DEBUG:canopen.sdo.client:Reading 0x1406:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 06 14 01 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 7 Communication Parameter.COB-ID used by PDO (0x1406:1) is 2147483648
INFO:canopen.pdo.base:COB-ID is 0x0
INFO:canopen.pdo.base:PDO is disabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1406:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 06 14 02 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 7 Communication Parameter.Transmission Type (0x1406:2) is 0
INFO:canopen.pdo.base:Transmission type is 0
DEBUG:canopen.sdo.client:Reading 0x1606:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 06 16 00 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 7 Mapping Parameter.Number of mapped objects (0x1606:0) is 0
DEBUG:canopen.sdo.client:Reading 0x1407:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 07 14 01 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 8 Communication Parameter.COB-ID used by PDO (0x1407:1) is 2147483648
INFO:canopen.pdo.base:COB-ID is 0x0
INFO:canopen.pdo.base:PDO is disabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1407:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 07 14 02 00 00 00 00
DEBUG:canopen.variable:Value of RPDO 8 Communication Parameter.Transmission Type (0x1407:2) is 0
INFO:canopen.pdo.base:Transmission type is 0
DEBUG:canopen.sdo.client:Reading 0x1607:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 07 16 00 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 8 Mapping Parameter.Number of mapped objects (0x1607:0) is 0
DEBUG:canopen.sdo.client:Reading 0x1800:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 00 18 01 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 1 Communication Parameter.COB-ID used by PDO (0x1800:1) is 385
INFO:canopen.pdo.base:COB-ID is 0x181
INFO:canopen.pdo.base:PDO is enabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1800:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 00 18 02 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 1 Communication Parameter.Transmission Type (0x1800:2) is 1
INFO:canopen.pdo.base:Transmission type is 1
DEBUG:canopen.sdo.client:Reading 0x1A00:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 00 1a 00 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 1 Mapping Parameter.Number of mapped objects (0x1A00:0) is 4
DEBUG:canopen.sdo.client:Reading 0x1A00:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 00 1a 01 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 1 Mapping Parameter.1. mapped object (0x1A00:1) is 838860816
WARNING:canopen.pdo.base:'0x3200 was not found in Object Dictionary'
DEBUG:canopen.sdo.client:Reading 0x1A00:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 00 1a 02 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 1 Mapping Parameter.2. mapped object (0x1A00:2) is 839122960
WARNING:canopen.pdo.base:'0x3204 was not found in Object Dictionary'
DEBUG:canopen.sdo.client:Reading 0x1A00:3 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 00 1a 03 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 1 Mapping Parameter.3. mapped object (0x1A00:3) is 840171536
WARNING:canopen.pdo.base:'0x3214 was not found in Object Dictionary'
DEBUG:canopen.sdo.client:Reading 0x1A00:4 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 00 1a 04 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 1 Mapping Parameter.4. mapped object (0x1A00:4) is 840433680
WARNING:canopen.pdo.base:'0x3218 was not found in Object Dictionary'
INFO:canopen.pdo.base:Subscribing to enabled PDO 0x181 on the network
DEBUG:canopen.sdo.client:Reading 0x1801:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 01 18 01 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 2 Communication Parameter.COB-ID used by PDO (0x1801:1) is 2147484289
INFO:canopen.pdo.base:COB-ID is 0x281
INFO:canopen.pdo.base:PDO is disabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1801:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 01 18 02 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 2 Communication Parameter.Transmission Type (0x1801:2) is 1
INFO:canopen.pdo.base:Transmission type is 1
DEBUG:canopen.sdo.client:Reading 0x1A01:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 01 1a 00 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 2 Mapping Parameter.Number of mapped objects (0x1A01:0) is 0
DEBUG:canopen.sdo.client:Reading 0x1802:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 02 18 01 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 3 Communication Parameter.COB-ID used by PDO (0x1802:1) is 2147484545
INFO:canopen.pdo.base:COB-ID is 0x381
INFO:canopen.pdo.base:PDO is disabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1802:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 02 18 02 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 3 Communication Parameter.Transmission Type (0x1802:2) is 1
INFO:canopen.pdo.base:Transmission type is 1
DEBUG:canopen.sdo.client:Reading 0x1A02:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 02 1a 00 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 3 Mapping Parameter.Number of mapped objects (0x1A02:0) is 0
DEBUG:canopen.sdo.client:Reading 0x1803:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 03 18 01 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 4 Communication Parameter.COB-ID used by PDO (0x1803:1) is 2147484801
INFO:canopen.pdo.base:COB-ID is 0x481
INFO:canopen.pdo.base:PDO is disabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1803:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 03 18 02 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 4 Communication Parameter.Transmission Type (0x1803:2) is 1
INFO:canopen.pdo.base:Transmission type is 1
DEBUG:canopen.sdo.client:Reading 0x1A03:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 03 1a 00 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 4 Mapping Parameter.Number of mapped objects (0x1A03:0) is 0
DEBUG:canopen.sdo.client:Reading 0x1804:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 04 18 01 00 00 00 00
DEBUG:canopen.variable:Value of TPDO communication parameter 4.COB-ID used by TPDO (0x1804:1) is 2147483648
INFO:canopen.pdo.base:COB-ID is 0x0
INFO:canopen.pdo.base:PDO is disabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1804:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 04 18 02 00 00 00 00
DEBUG:canopen.variable:Value of TPDO communication parameter 4.Transmission type (0x1804:2) is 1
INFO:canopen.pdo.base:Transmission type is 1
DEBUG:canopen.sdo.client:Reading 0x1A04:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 04 1a 00 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 5 Mapping Parameter.Number of mapped objects (0x1A04:0) is 0
DEBUG:canopen.sdo.client:Reading 0x1805:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 05 18 01 00 00 00 00
DEBUG:canopen.variable:Value of TPDO communication parameter 5.COB-ID used by TPDO (0x1805:1) is 2147483648
INFO:canopen.pdo.base:COB-ID is 0x0
INFO:canopen.pdo.base:PDO is disabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1805:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 05 18 02 00 00 00 00
DEBUG:canopen.variable:Value of TPDO communication parameter 5.Transmission type (0x1805:2) is 1
INFO:canopen.pdo.base:Transmission type is 1
DEBUG:canopen.sdo.client:Reading 0x1A05:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 05 1a 00 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 6 Mapping Parameter.Number of mapped objects (0x1A05:0) is 0
DEBUG:canopen.sdo.client:Reading 0x1806:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 06 18 01 00 00 00 00
DEBUG:canopen.variable:Value of TPDO communication parameter 6.COB-ID used by TPDO (0x1806:1) is 2147483648
INFO:canopen.pdo.base:COB-ID is 0x0
INFO:canopen.pdo.base:PDO is disabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1806:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 06 18 02 00 00 00 00
DEBUG:canopen.variable:Value of TPDO communication parameter 6.Transmission type (0x1806:2) is 1
INFO:canopen.pdo.base:Transmission type is 1
DEBUG:canopen.sdo.client:Reading 0x1A06:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 06 1a 00 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 7 Mapping Parameter.Number of mapped objects (0x1A06:0) is 0
DEBUG:canopen.sdo.client:Reading 0x1807:1 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 07 18 01 00 00 00 00
DEBUG:canopen.variable:Value of TPDO communication parameter 7.COB-ID used by TPDO (0x1807:1) is 2147483648
INFO:canopen.pdo.base:COB-ID is 0x0
INFO:canopen.pdo.base:PDO is disabled
INFO:canopen.pdo.base:RTR is allowed
DEBUG:canopen.sdo.client:Reading 0x1807:2 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 07 18 02 00 00 00 00
DEBUG:canopen.variable:Value of TPDO communication parameter 7.Transmission type (0x1807:2) is 1
INFO:canopen.pdo.base:Transmission type is 1
DEBUG:canopen.sdo.client:Reading 0x1A07:0 from node 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 40 07 1a 00 00 00 00 00
DEBUG:canopen.variable:Value of TPDO 8 Mapping Parameter.Number of mapped objects (0x1A07:0) is 0
node state 3) = PRE-OPERATIONAL
INFO:canopen.pdo.base:Adding Status word (0x6041:0) at bits 0 - 15 to PDO map
INFO:canopen.pdo.base:Adding Mode of operation display (0x6061:0) at bits 16 - 23 to PDO map
INFO:canopen.pdo.base:Adding Velocity actual value (0x606C:0) at bits 24 - 55 to PDO map
INFO:canopen.pdo.base:Setting COB-ID 0x181 and temporarily disabling PDO
DEBUG:canopen.variable:Writing TPDO 1 Communication Parameter.COB-ID used by PDO (0x1800:1) = 2147484033
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 00 18 01 81 01 00 80
INFO:canopen.pdo.base:Setting transmission type to 1
DEBUG:canopen.variable:Writing TPDO 1 Communication Parameter.Transmission Type (0x1800:2) = 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 00 18 02 01 00 00 00
DEBUG:canopen.variable:Writing TPDO 1 Mapping Parameter.Number of mapped objects (0x1A00:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 00 1a 00 00 00 00 00
INFO:canopen.pdo.base:Writing Status word (0x6041:0, 16 bits) to PDO map
DEBUG:canopen.variable:Writing TPDO 1 Mapping Parameter.1. mapped object (0x1A00:1) = 1614872592
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 00 1a 01 10 00 41 60
INFO:canopen.pdo.base:Writing Mode of operation display (0x6061:0, 8 bits) to PDO map
DEBUG:canopen.variable:Writing TPDO 1 Mapping Parameter.2. mapped object (0x1A00:2) = 1616969736
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 00 1a 02 08 00 61 60
INFO:canopen.pdo.base:Writing Velocity actual value (0x606C:0, 32 bits) to PDO map
DEBUG:canopen.variable:Writing TPDO 1 Mapping Parameter.3. mapped object (0x1A00:3) = 1617690656
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 00 1a 03 20 00 6c 60
DEBUG:canopen.variable:Writing TPDO 1 Mapping Parameter.Number of mapped objects (0x1A00:0) = 3
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 00 1a 00 03 00 00 00
DEBUG:canopen.variable:Writing TPDO 1 Communication Parameter.COB-ID used by PDO (0x1800:1) = 385
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 00 18 01 81 01 00 00
INFO:canopen.pdo.base:Subscribing to enabled PDO 0x181 on the network
INFO:canopen.pdo.base:Setting COB-ID 0x281 and temporarily disabling PDO
DEBUG:canopen.variable:Writing TPDO 2 Communication Parameter.COB-ID used by PDO (0x1801:1) = 2147484289
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 01 18 01 81 02 00 80
INFO:canopen.pdo.base:Setting transmission type to 1
DEBUG:canopen.variable:Writing TPDO 2 Communication Parameter.Transmission Type (0x1801:2) = 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 01 18 02 01 00 00 00
DEBUG:canopen.variable:Writing TPDO 2 Mapping Parameter.Number of mapped objects (0x1A01:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 01 1a 00 00 00 00 00
DEBUG:canopen.variable:Writing TPDO 2 Mapping Parameter.Number of mapped objects (0x1A01:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 01 1a 00 00 00 00 00
INFO:canopen.pdo.base:Setting COB-ID 0x381 and temporarily disabling PDO
DEBUG:canopen.variable:Writing TPDO 3 Communication Parameter.COB-ID used by PDO (0x1802:1) = 2147484545
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 02 18 01 81 03 00 80
INFO:canopen.pdo.base:Setting transmission type to 1
DEBUG:canopen.variable:Writing TPDO 3 Communication Parameter.Transmission Type (0x1802:2) = 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 02 18 02 01 00 00 00
DEBUG:canopen.variable:Writing TPDO 3 Mapping Parameter.Number of mapped objects (0x1A02:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 02 1a 00 00 00 00 00
DEBUG:canopen.variable:Writing TPDO 3 Mapping Parameter.Number of mapped objects (0x1A02:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 02 1a 00 00 00 00 00
INFO:canopen.pdo.base:Setting COB-ID 0x481 and temporarily disabling PDO
DEBUG:canopen.variable:Writing TPDO 4 Communication Parameter.COB-ID used by PDO (0x1803:1) = 2147484801
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 03 18 01 81 04 00 80
INFO:canopen.pdo.base:Setting transmission type to 1
DEBUG:canopen.variable:Writing TPDO 4 Communication Parameter.Transmission Type (0x1803:2) = 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 03 18 02 01 00 00 00
DEBUG:canopen.variable:Writing TPDO 4 Mapping Parameter.Number of mapped objects (0x1A03:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 03 1a 00 00 00 00 00
DEBUG:canopen.variable:Writing TPDO 4 Mapping Parameter.Number of mapped objects (0x1A03:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 03 1a 00 00 00 00 00
INFO:canopen.pdo.base:Setting COB-ID 0x0 and temporarily disabling PDO
DEBUG:canopen.variable:Writing TPDO communication parameter 4.COB-ID used by TPDO (0x1804:1) = 2147483648
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 04 18 01 00 00 00 80
INFO:canopen.pdo.base:Setting transmission type to 1
DEBUG:canopen.variable:Writing TPDO communication parameter 4.Transmission type (0x1804:2) = 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 04 18 02 01 00 00 00
DEBUG:canopen.variable:Writing TPDO 5 Mapping Parameter.Number of mapped objects (0x1A04:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 04 1a 00 00 00 00 00
DEBUG:canopen.variable:Writing TPDO 5 Mapping Parameter.Number of mapped objects (0x1A04:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 04 1a 00 00 00 00 00
INFO:canopen.pdo.base:Setting COB-ID 0x0 and temporarily disabling PDO
DEBUG:canopen.variable:Writing TPDO communication parameter 5.COB-ID used by TPDO (0x1805:1) = 2147483648
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 05 18 01 00 00 00 80
INFO:canopen.pdo.base:Setting transmission type to 1
DEBUG:canopen.variable:Writing TPDO communication parameter 5.Transmission type (0x1805:2) = 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 05 18 02 01 00 00 00
DEBUG:canopen.variable:Writing TPDO 6 Mapping Parameter.Number of mapped objects (0x1A05:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 05 1a 00 00 00 00 00
DEBUG:canopen.variable:Writing TPDO 6 Mapping Parameter.Number of mapped objects (0x1A05:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 05 1a 00 00 00 00 00
INFO:canopen.pdo.base:Setting COB-ID 0x0 and temporarily disabling PDO
DEBUG:canopen.variable:Writing TPDO communication parameter 6.COB-ID used by TPDO (0x1806:1) = 2147483648
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 06 18 01 00 00 00 80
INFO:canopen.pdo.base:Setting transmission type to 1
DEBUG:canopen.variable:Writing TPDO communication parameter 6.Transmission type (0x1806:2) = 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 06 18 02 01 00 00 00
DEBUG:canopen.variable:Writing TPDO 7 Mapping Parameter.Number of mapped objects (0x1A06:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 06 1a 00 00 00 00 00
DEBUG:canopen.variable:Writing TPDO 7 Mapping Parameter.Number of mapped objects (0x1A06:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 06 1a 00 00 00 00 00
INFO:canopen.pdo.base:Setting COB-ID 0x0 and temporarily disabling PDO
DEBUG:canopen.variable:Writing TPDO communication parameter 7.COB-ID used by TPDO (0x1807:1) = 2147483648
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 07 18 01 00 00 00 80
INFO:canopen.pdo.base:Setting transmission type to 1
DEBUG:canopen.variable:Writing TPDO communication parameter 7.Transmission type (0x1807:2) = 1
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 07 18 02 01 00 00 00
DEBUG:canopen.variable:Writing TPDO 8 Mapping Parameter.Number of mapped objects (0x1A07:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 07 1a 00 00 00 00 00
DEBUG:canopen.variable:Writing TPDO 8 Mapping Parameter.Number of mapped objects (0x1A07:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 07 1a 00 00 00 00 00
INFO:canopen.pdo.base:Adding Control word (0x6040:0) at bits 0 - 15 to PDO map
INFO:canopen.pdo.base:Adding Mode of operation (0x6060:0) at bits 16 - 23 to PDO map
INFO:canopen.pdo.base:Adding Target velocity (0x60FF:0) at bits 24 - 55 to PDO map
INFO:canopen.pdo.base:Setting COB-ID 0x201 and temporarily disabling PDO
DEBUG:canopen.variable:Writing RPDO 1 Communication Parameter.COB-ID used by PDO (0x1400:1) = 2147484161
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 00 14 01 01 02 00 80
INFO:canopen.pdo.base:Setting transmission type to 0
DEBUG:canopen.variable:Writing RPDO 1 Communication Parameter.Transmission Type (0x1400:2) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 00 14 02 00 00 00 00
DEBUG:canopen.variable:Writing RPDO 1 Mapping Parameter.Number of mapped objects (0x1600:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 00 16 00 00 00 00 00
INFO:canopen.pdo.base:Writing Control word (0x6040:0, 16 bits) to PDO map
DEBUG:canopen.variable:Writing RPDO 1 Mapping Parameter.1. mapped object (0x1600:1) = 1614807056
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 00 16 01 10 00 40 60
INFO:canopen.pdo.base:Writing Mode of operation (0x6060:0, 8 bits) to PDO map
DEBUG:canopen.variable:Writing RPDO 1 Mapping Parameter.2. mapped object (0x1600:2) = 1616904200
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 00 16 02 08 00 60 60
INFO:canopen.pdo.base:Writing Target velocity (0x60FF:0, 32 bits) to PDO map
DEBUG:canopen.variable:Writing RPDO 1 Mapping Parameter.3. mapped object (0x1600:3) = 1627324448
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 00 16 03 20 00 ff 60
DEBUG:canopen.variable:Writing RPDO 1 Mapping Parameter.Number of mapped objects (0x1600:0) = 3
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 00 16 00 03 00 00 00
DEBUG:canopen.variable:Writing RPDO 1 Communication Parameter.COB-ID used by PDO (0x1400:1) = 513
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 00 14 01 01 02 00 00
INFO:canopen.pdo.base:Subscribing to enabled PDO 0x201 on the network
INFO:canopen.pdo.base:Setting COB-ID 0x301 and temporarily disabling PDO
DEBUG:canopen.variable:Writing RPDO 2 Communication Parameter.COB-ID used by PDO (0x1401:1) = 2147484417
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 01 14 01 01 03 00 80
INFO:canopen.pdo.base:Setting transmission type to 0
DEBUG:canopen.variable:Writing RPDO 2 Communication Parameter.Transmission Type (0x1401:2) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 01 14 02 00 00 00 00
DEBUG:canopen.variable:Writing RPDO 2 Mapping Parameter.Number of mapped objects (0x1601:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 01 16 00 00 00 00 00
DEBUG:canopen.variable:Writing RPDO 2 Mapping Parameter.Number of mapped objects (0x1601:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 01 16 00 00 00 00 00
DEBUG:canopen.variable:Writing RPDO 2 Communication Parameter.COB-ID used by PDO (0x1401:1) = 769
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 01 14 01 01 03 00 00
INFO:canopen.pdo.base:Subscribing to enabled PDO 0x301 on the network
INFO:canopen.pdo.base:Setting COB-ID 0x401 and temporarily disabling PDO
DEBUG:canopen.variable:Writing RPDO 3 Communication Parameter.COB-ID used by PDO (0x1402:1) = 2147484673
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 02 14 01 01 04 00 80
INFO:canopen.pdo.base:Setting transmission type to 0
DEBUG:canopen.variable:Writing RPDO 3 Communication Parameter.Transmission Type (0x1402:2) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 02 14 02 00 00 00 00
DEBUG:canopen.variable:Writing RPDO 3 Mapping Parameter.Number of mapped objects (0x1602:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 02 16 00 00 00 00 00
DEBUG:canopen.variable:Writing RPDO 3 Mapping Parameter.Number of mapped objects (0x1602:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 02 16 00 00 00 00 00
DEBUG:canopen.variable:Writing RPDO 3 Communication Parameter.COB-ID used by PDO (0x1402:1) = 1025
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 02 14 01 01 04 00 00
INFO:canopen.pdo.base:Subscribing to enabled PDO 0x401 on the network
INFO:canopen.pdo.base:Setting COB-ID 0x501 and temporarily disabling PDO
DEBUG:canopen.variable:Writing RPDO 4 Communication Parameter.COB-ID used by PDO (0x1403:1) = 2147484929
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 03 14 01 01 05 00 80
INFO:canopen.pdo.base:Setting transmission type to 0
DEBUG:canopen.variable:Writing RPDO 4 Communication Parameter.Transmission Type (0x1403:2) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 03 14 02 00 00 00 00
DEBUG:canopen.variable:Writing RPDO 4 Mapping Parameter.Number of mapped objects (0x1603:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 03 16 00 00 00 00 00
DEBUG:canopen.variable:Writing RPDO 4 Mapping Parameter.Number of mapped objects (0x1603:0) = 0
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 2f 03 16 00 00 00 00 00
INFO:canopen.pdo.base:Setting COB-ID 0x0 and temporarily disabling PDO
DEBUG:canopen.variable:Writing RPDO 5 Communication Parameter.COB-ID used by PDO (0x1404:1) = 2147483648
DEBUG:can.interfaces.socketcan.socketcan:We've been asked to write a message to the bus
DEBUG:can.interfaces.socketcan.socketcan.tx:sending: Timestamp: 0.000000 ID: 0601 S Rx DL: 8 23 04 14 01 00 00 00 80
I
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@acolomb
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acolomb commented Apr 12, 2023 •
edited

That is a lot of info to parse, please cut it down to what you see that's going wrong.

Some general thoughts: Are you setting the device to OPERATIONAL state after configuring PDOs? Have you started the PDO transmission?

You seem to be using only a very small part of the DS402 profile API. There are properties implemented on the node class to switch e.g. the operation mode and the DS402 power state machine. You should probably look at the relevant docs again or the p402.py file to understand the intended usage. Fiddling around with object index numbers in hex shouldn't be necessary at all, that's what this library tries to abstract away.

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Hello again, sorry but i'm old (74 y.o.)
I start from the beginning.
import canopen
from canopen.profiles.p402 import BaseNode402
import os
from time import sleep
os.system('sudo ip link set can0 up type can bitrate 500000')
network = canopen.Network()
network.connect(bustype="socketcan", channel='can0')
node = BaseNode402(1, '/home/pi/Desktop/TBS3.eds')
network.add_node(node)
network.check()
network.sync.start(0.02)
node.load_configuration()
sleep(1)
node.nmt.state = 'RESET COMMUNICATION'
node.nmt.wait_for_bootup(15)
node.load_configuration()
node.tpdo[1].clear()
node.tpdo[1].add_variable(0x6041)
node.tpdo[1].add_variable(0x6061)
node.tpdo[1].add_variable(0x606C)
node.tpdo[1].trans_type = 1
node.tpdo[1].enabled = True
node.tpdo.save()
node.rpdo[1].clear()
node.rpdo[1].add_variable(0x6040)
node.rpdo[1].add_variable(0x6060)
node.rpdo[1].add_variable(0x60FF)
node.rpdo[1].enabled = True
node.rpdo.save()
node.setup_402_state_machine()
sleep(1)
print('stato',node.state)
#i get not ready to switch on Why?? what is wrong
if i commentt out the following:
node.tpdo[1].clear()
node.tpdo[1].add_variable(0x6041)
node.tpdo[1].add_variable(0x6061)
node.tpdo[1].add_variable(0x606C)
node.tpdo[1].trans_type = 1
node.tpdo[1].enabled = True
node.tpdo.save()
node.rpdo[1].clear()
node.rpdo[1].add_variable(0x6040)
node.rpdo[1].add_variable(0x6060)
node.rpdo[1].add_variable(0x60FF)
node.rpdo[1].enabled = True
node.rpdo.save()
i get:
Controlword not configured in node 1's PDOs. Using SDOs can cause slow performance.
Statusword not configured in node 1's PDOs. Using SDOs can cause slow performance.
Operation Mode not configured in node 1's PDOs. Using SDOs can cause slow performance.
Operation Mode Display not configured in node 1's PDOs. Using SDOs can cause slow performance.
The object 0x6041 is not a configured TPDO, fallback to SDO
The object 0x6041 is not a configured TPDO, fallback to SDO
The object 0x6041 is not a configured TPDO, fallback to SDO
But the state (ready to switch on)

@acolomb
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acolomb commented Apr 14, 2023 •
edited

Have you tried observing the CAN traffic? What do the PDOs actually contain? Does the device accept the PDO configuration and is it really responding to the SYNC objects?

The error messages are normal if you comment out the PDO mapping.

Oh and please format your posts properly, there are various ways to mark text as code so it renders correctly on GitHub. Otherwise your comments in between get lost easily and the code cannot be copied in working state.

@superlogan72
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DEBUG:can.interfaces.socketcan.socketcan:Reading properties of (cyclic) transmission task id=1
DEBUG:can.interfaces.socketcan.socketcan:Invalid argument - transmission task not known to kernel
Can you help me to uderstad this?

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