Guided beta caseProbeginnerCiA 402 enable sequence
The motor receives commands but stays disabled
Reach operation enabled without bypassing voltage and fault checks.
Pairs with CiA 402 state machine in Hardware Integration & CANopen. Read the concept first, then diagnose it here.
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Target velocity changes over RPDO, but actual velocity remains zero and statusword is 0x0040.
Ubuntu 24.04, ROS 2 Jazzy, SocketCAN vcan, CANopen drive simulator, ros2_control
System boundary
Trace only the relevant path.
statusword statecontrolword sequencepower stage
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.
- Operation Enabled reached
- Velocity follows target
- Hidden regression behavior
- Root cause explanation