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I was finally able to solve my problem. After taking a look at the /diagnostics topic and executing candump can0, I realized that the robot was outputting CANopen EMCY codes that indicated an issue with the motor current. Even though the wiring I initially used to connect the robot to the power supply complied with the LWA4D voltage and current specifications, I changed it and used thicker wires, and now the robot moves normally.

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