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A littile problem here is I don't know how to specify the speed during the point-to-point move.
canopen_motor_nodedoes not support setting the velocity dynamically (for this mode).
You can set it at start-up to a fixed value (Object 0x6081, the drive even supports more options).
I have opened a new issue for dynamic setting: https://github.com/ros-industrial/ros_canopen/issues/194
I_Joint could not enter mode 2
According to the manual the drive just supports mode 3 (profiled velocity). You should not have copied the Schunk DCF, the Copley drive seems to be more like the Elmo..
and if I start the trajectory_controller:
The error message suggests that you should check the sent command. Perhaps the drive have to be configured in a different way. Please map 60c1sub1 to a PDO, otherwise IP mode will not work as expected. (http://wiki.ros.org/canopen_402)
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