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Ok. First; If I understand well, the package "cob_base_drive_chain" enables me to detect the connection of a can bus line. Then If I want to test the communication with one element plugged in the can bus, I have to implement a can-node to send commands: here, you were inspired by the file "cansend.c " that you found in the can-utils of your machine? I have a second question: I use a elmo driver and a motor brushless. Where can I find the can-utils of my machine? In the driver's documentation I suppose? I thank you for your help