Use CAN to control without motor self-test

I am tying to turn off the self-test and control the motor with CAN protocol.

But when I turn off the self-test, it can not be controlled by my microcontroller but it can be controlled by cmd at the same time. When I turn on the self-test, then I can control it with CAN.

I think it means there is no problem with my motor and encoder, maybe some problems with my odrive? But when I change my odrive, there is nothing better.

Now I have to remove the self-test, but I don’t know how to solve it. Any help would be appreciated!

What is the self-test?