No connection / SDO respons with a Seeedstudio USB to CAN adapter

[thommols]

Hi,

I cant seem to get a working connection between my Seeedstudio adapter and my CANopen supported Servo-drive.
I installed my adapter via: https://python-can.readthedocs.io/en/stable/interfaces/seeedstudio.html#interface.
My code and debug messages are listed below.
It goes wrong in the network coding, NMT messages are also not working.
I checked incoming messages on the CANopen network with a 2nd USBCAN adapter, messages from my python code are not visable.
this is my code:

`import canopen
from canopen.profiles.p402 import BaseNode402
import time
import logging
logging.basicConfig(level=logging.DEBUG)

node = BaseNode402(1, 'C:\Users\thomk\Documents\CANOPEN-EDS-MBDV-Servo-DulAxes-V1.0.eds')
node2 = BaseNode402(2, 'C:\Users\thomk\Documents\CANOPEN-EDS-MBDV-Servo-DulAxes-V1.0.eds')

network = canopen.Network()

network.connect(bustype='seeedstudio', channel='COM3', bitrate=1000000)
network.add_node(node)
network.add_node(node2)
network.check()

network.sync.start(0.005)

node.nmt.send_command(0x81) # node reset and init
node.nmt.send_command(0x1) # node operational

node.sdo[0x6040]
node.sdo[0x6040].raw = 0x03 # write enable profile velocity mode (control word)
node.sdo[0x6041]
node.sdo[0x6041].raw # read status word`

this is de debugging message I get:

`DEBUG:canopen.pdo:TPDO Map as 4
DEBUG:canopen.pdo:RPDO Map as 4
DEBUG:canopen.pdo:TPDO Map as 4
DEBUG:canopen.pdo:RPDO Map as 4
DEBUG:can:can config: {'bitrate': 1000000, 'interface': 'seeedstudio', 'channel': 'COM3'}
DEBUG:seeedbus:init_frm: aa55120101000000000000000000010000000015
INFO:canopen.network:Connected to 'Serial interface: COM3'
WARNING:seeedbus:fileno is not implemented using current CAN bus: fileno
DEBUG:seeedbus:sending: aac0800055
INFO:canopen.nmt:Changing NMT state on node 1 from INITIALISING to INITIALISING
INFO:canopen.nmt:Sending NMT command 0x81 to node 1
DEBUG:seeedbus:sending: aac20000810155
INFO:canopen.nmt:Changing NMT state on node 1 from INITIALISING to OPERATIONAL
INFO:canopen.nmt:Sending NMT command 0x1 to node 1
DEBUG:seeedbus:sending: aac20000010155
DEBUG:canopen.variable:Writing Control word (0x6040:0) = 3
DEBUG:seeedbus:sending: aac801062b4060000300000055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac0800055
DEBUG:seeedbus:sending: aac80106800000000000040555
ERROR:canopen.sdo.client:Transfer aborted by client with code 0x05040000
Traceback (most recent call last):
File "C:\Users\thomk\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\canopen\sdo\client.py", line 66, in read_response
block=True, timeout=self.RESPONSE_TIMEOUT)
File "C:\Program Files\WindowsApps\PythonSoftwareFoundation.Python.3.7_3.7.2544.0_x64__qbz5n2kfra8p0\lib\queue.py", line 178, in get
raise Empty
_queue.Empty

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "c:/Users/thomk/OneDrive - Saxion/Documenten/python code test 3.py", line 24, in
node.sdo[0x6040].raw = 0x03 # write enable profile velocity mode (control word)
File "C:\Users\thomk\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\canopen\variable.py", line 89, in raw
DEBUG:seeedbus:sending: aac0800055
self.data = self.od.encode_raw(value)
File "C:\Users\thomk\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\canopen\variable.py", line 41, in data
self.set_data(data)
File "C:\Users\thomk\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\canopen\sdo\base.py", line 133, in set_data
self.sdo_node.download(self.od.index, self.od.subindex, data, force_segment)
File "C:\Users\thomk\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\canopen\sdo\client.py", line 160, in download
fp.write(data)
File "C:\Users\thomk\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\canopen\sdo\client.py", line 388, in write
response = self.sdo_client.request_response(request)
File "C:\Users\thomk\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\canopen\sdo\client.py", line 84, in request_response
return self.read_response()
File "C:\Users\thomk\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\canopen\sdo\client.py", line 68, in read_response
raise SdoCommunicationError("No SDO response received")
canopen.sdo.exceptions.SdoCommunicationError: No SDO response received
PS C:\Users\thomk> `