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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.

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Operator 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

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01fault reset→
  2. 02latched target command→
  3. 03power-stage re-enableOUT
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
  • Drive recovers without repeat EMCY
  • Target ramps within limit
  • Hidden regression behavior
  • Root cause explanation