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In productionProadvancedSafe recovery

The drive re-enables after an emergency stop

Require explicit recovery authority after the emergency-stop circuit is restored.

Pairs with Watchdogs and safe recovery in Hardware Integration & CANopen. Read the concept first, then diagnose it here.

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Operator report

Releasing E-stop immediately restores operation-enabled state and the old target.

Ubuntu 24.04, ROS 2 Jazzy, SocketCAN vcan, CANopen drive simulator, ros2_control

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01E-stop reset→
  2. 02automatic enable logic→
  3. 03cached motion commandOUT
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
  • Release alone cannot enable drive
  • Reset requires zero command
  • Hidden regression behavior
  • Root cause explanation