In productionProadvancedCiA 402 fault recovery
The drive faults immediately after reset
Recover from overcurrent only after the initiating command is safe.
Pairs with CiA 402 state machine in Hardware Integration & CANopen. Read the concept first, then diagnose it here.
Unlock this lab with ProOperator report
Fault reset succeeds for one cycle, then the same overcurrent EMCY returns.
Ubuntu 24.04, ROS 2 Jazzy, SocketCAN vcan, CANopen drive simulator, ros2_control
System boundary
Trace only the relevant path.
fault resetlatched target commandpower-stage re-enable
How this lab works
You diagnose it — no command list.
Open the repair workspace and gather your own evidence in a real terminal. No diagnostic commands are handed to you — finding the fault is the exercise. Stuck? Progressive hints unlock inside the workspace.
Verification
Your repair must pass more than the visible symptom.
- Drive recovers without repeat EMCY
- Target ramps within limit
- Hidden regression behavior
- Root cause explanation