In productionProbeginnerPDO encoding
Velocity commands become enormous
Restore signed velocity commands without adding arbitrary clamping.
Pairs with PDO, SDO, and timing in Hardware Integration & CANopen. Read the concept first, then diagnose it here.
Unlock this lab with ProOperator report
A target of 1000 counts/s is decoded by the drive as -402456576 counts/s.
Ubuntu 24.04, ROS 2 Jazzy, SocketCAN vcan, CANopen drive simulator, ros2_control
System boundary
Trace only the relevant path.
target velocity integerPDO byte encodingdrive object 0x60FF
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.
- 1000 decodes as 1000
- Negative velocity decodes correctly
- Hidden regression behavior
- Root cause explanation