Loading system evidence
Loading system evidence
Connect ROS 2 to motor drives through Linux devices, CAN evidence, CANopen state, ros2_control, and safe recovery.
Sign in to start - freeOutcome
Build
A simulated dual-drive CANopen base with bounded watchdogs and a verified commissioning report.
Sample incident
Keep the drive interface stable when another USB serial adapter is connected first.
Full syllabus
Trace USB, serial, and controller devices through enumeration, stable names, permissions, power, and wiring.
Inspect framing, bitrate, termination, identifiers, errors, and bus state before protocol decoding.
Configure Linux CAN interfaces, filters, timestamps, error frames, and recovery behavior.
Read node state, object dictionaries, NMT transitions, heartbeats, and emergency messages.
Choose configuration versus process channels, validate mappings, byte order, and cyclic timing.
Decode statusword, issue controlword transitions, handle faults, and prove operation-enabled state.
Connect hardware lifecycle, state interfaces, command interfaces, controllers, and deterministic update loops.
Design command timeouts, heartbeats, safe startup, protective stops, and bounded fault recovery.
Playgrounds
Small, functional experiments that reveal the math and evidence behind this course’s failures. Open them alongside the labs.
Step a CANopen drive through Shutdown, Switch On, and Enable Operation and watch the statusword and motor react.
CiA 402 state machine / CANopen drive / statusword
Live controlsMatch host and drive bit timing, adjust the sample point over cable length, and see the bus enter error-passive or bus-off.
CAN bitrate / sample point / bus-off
Live controlsSerialise a target velocity into a PDO and see how a big-endian write is re-interpreted as an enormous value at the drive.
CANopen PDO / byte order / little-endian