Emergency error of Schunk PG70

edit

Hello,

I want to move a PG70 gripper together with a LWA4P using:

HW:

• Schunk LWA4P
• Schunk PG70-plus

SW:

• Ubuntu 16.04
• ROS kinetic
• ros_canopen

I am perfectly able to move the LWA4P, but when I try to move the gripper nothing happens and after a while the gripper node has an emergency error.

This is the output of the topic /diagnostics:

level: 2
name: "rh_arm/driver: rh_arm_finger_left_joint"
message: "Motor has fault; Node has emergency error"
hardware_id: "none"
values: 
  - 
    key: "error_register"
    value: "35"
  - 
    key: "errors"
    value: "2350#df"

This is my terminal output:

    ... logging to /home/pem-robot/.ros/log/73c31b08-a3bc-11e9-ad01-2087563168c2/roslaunch-pemrobot-SIMATIC-IPC427E-1988.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://pemrobot-SIMATIC-IPC427E:38445/

SUMMARY
========

CLEAR PARAMETERS
 * /lh_arm/driver/
 * /mobile_base/
 * /rh_arm/driver/
 * /torso/torso_driver/

PARAMETERS
 * /joint_state_mixer/robot_description: <?xml version="1....
 * /lh_arm/driver/bus/device: can2
 * /lh_arm/driver/defaults/dcf_overlay/604Csub1: 1
 * /lh_arm/driver/defaults/dcf_overlay/604Csub2: 24000
 * /lh_arm/driver/defaults/dcf_overlay/6060: 1
 * /lh_arm/driver/defaults/eds_file: config/Schunk_0_6...
 * /lh_arm/driver/defaults/eds_pkg: pem_arm_lh
 * /lh_arm/driver/defaults/vel_to_device: rint(rad2deg(vel)...
 * /lh_arm/driver/name: arm
 * /lh_arm/driver/nodes/lh_arm_0_joint/id: 10
 * /lh_arm/driver/nodes/lh_arm_1_joint/id: 5
 * /lh_arm/driver/nodes/lh_arm_2_joint/id: 6
 * /lh_arm/driver/nodes/lh_arm_3_joint/id: 3
 * /lh_arm/driver/nodes/lh_arm_4_joint/id: 4
 * /lh_arm/driver/sync/interval_ms: 50
 * /lh_arm/driver/sync/overflow: 0
 * /lh_arm/hardware_control_loop/loop_hz: 125
 * /lh_arm/hardware_interface/joints: ['lh_arm_0_joint'...
 * /lh_arm/joint_state_controller/publish_rate: 50
 * /lh_arm/joint_state_controller/type: joint_state_contr...
 * /lh_arm/pos_based_pos_traj_controller_arm_lh/joints: ['lh_arm_0_joint'...
 * /lh_arm/pos_based_pos_traj_controller_arm_lh/publish_rate: 50
 * /lh_arm/pos_based_pos_traj_controller_arm_lh/required_drive_mode: 7
 * /lh_arm/pos_based_pos_traj_controller_arm_lh/type: position_controll...
 * /lh_arm/robot_description: <?xml version="1....
 * /mobile_base/back/sick_tim571_back/frame_id: laser_back
 * /mobile_base/back/sick_tim571_back/hostname: 192.168.1.20
 * /mobile_base/back/sick_tim571_back/max_ang: 1.0
 * /mobile_base/back/sick_tim571_back/min_ang: -1.0
 * /mobile_base/back/sick_tim571_back/port: 2112
 * /mobile_base/back/sick_tim571_back/range_max: 25.0
 * /mobile_base/back/sick_tim571_back/timelimit: 5
 * /mobile_base/driver/bus/device: can0
 * /mobile_base/driver/defaults/dcf_overlay/1016sub0: 0x1
 * /mobile_base/driver/defaults/dcf_overlay/1016sub1: 0x007f00c8
 * /mobile_base/driver/defaults/dcf_overlay/1017: 0x0032
 * /mobile_base/driver/defaults/dcf_overlay/1400sub2: 0x1
 * /mobile_base/driver/defaults/dcf_overlay/1600sub0: 0x2
 * /mobile_base/driver/defaults/dcf_overlay/1600sub1: 0x60400010
 * /mobile_base/driver/defaults/dcf_overlay/1600sub2: 0x60ff0020
 * /mobile_base/driver/defaults/dcf_overlay/1800sub2: 0x1
 * /mobile_base/driver/defaults/dcf_overlay/1801sub2: 0x1
 * /mobile_base/driver/defaults/dcf_overlay/1a00sub0: 0x1
 * /mobile_base/driver/defaults/dcf_overlay/1a00sub1: 0x60410010
 * /mobile_base/driver/defaults/dcf_overlay/1a01sub0: 0x2
 * /mobile_base/driver/defaults/dcf_overlay/1a01sub1: 0x606c0020
 * /mobile_base/driver/defaults/dcf_overlay/1a01sub2: 0x60640020
 * /mobile_base/driver/defaults/eds_file: config/CANeds-Gol...
 * /mobile_base/driver/defaults/eds_pkg: pem_robot_mobile_...
 * /mobile_base/driver/defaults/pos_from_device: obj6064*2*3.14/60...
 * /mobile_base/driver/defaults/pos_to_device: rint(pos*50.0*60....
 * /mobile_base/driver/defaults/vel_from_device: obj606C*2.0*3.14/...
 * /mobile_base/driver/defaults/vel_to_device: rint(vel*50.0*60....
 * /mobile_base/driver/heartbeat/msg: 77f#05
 * /mobile_base/driver/heartbeat/rate: 20
 * /mobile_base/driver/name: motor ...