Pricing
00
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.

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Operator 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

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01target velocity integer→
  2. 02PDO byte encoding→
  3. 03drive object 0x60FFOUT
02

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.

03

Verification

Pass more than the visible symptom.

4 checks
  • 1000 decodes as 1000
  • Negative velocity decodes correctly
  • Hidden regression behavior
  • Root cause explanation