Hardware validation date: 2026-08-11
Project: examples/lab_23_cia402_enable
ESP-IDF: v5.5.4
Target: ESP32-C3 revision v0.4
Serial port: /dev/ttyUSB0
Firmware size: 210192 bytes

Observed application log:

I lab_23_cia402: CiA 402 enable-only experiment: motor Node-ID 0x01
W lab_23_cia402: No mode, target position, target velocity, or motion PDO is written
I lab_23_cia402: 0x6041 Statusword = 0x0637 (Operation enabled)
W lab_23_cia402: Write 0x6040:00 = 0x0006 (Shutdown)
I lab_23_cia402: 0x6041 Statusword = 0x0231 (Ready to switch on)
W lab_23_cia402: Write 0x6040:00 = 0x0007 (Switch on)
I lab_23_cia402: 0x6041 Statusword = 0x0233 (Switched on)
W lab_23_cia402: Write 0x6040:00 = 0x000F (Enable operation)
I lab_23_cia402: 0x6041 Statusword = 0x0637 (Operation enabled)
W lab_23_cia402: PASS: motor reached Operation enabled without a motion command

Result:
- Build, flash, SDO writes, and statusword verification: PASS.
- No operation mode, target position, target velocity, or motion PDO was written by this lesson.