A customer purchased a HONPINE harmonic joint motor, model HPJM-RE40-52-PRO-101-B-2E, and encountered issues during testing.

This article describes how HONPINE provides technical support when customers face driver initialization sequence problems.

Problem Description

The issue appears to occur during the CANopen state machine transition between “Ready to Switch On” and “Operation Enabled”.

According to the CANopen state machine diagram, this corresponds to Transition 4.

Although other transitions triggered by the controlword work correctly, the controlword 0x000F, which is specified in the CANopen documentation for this transition, does not trigger Transition 4.

As additional information, we attempted to assign the PDO mapping recommended in the documentation before performing the transition. However, this attempt failed because the driver appears to reject PDO assignment to any PDOs other than TPDO1 and RPDO1.

The PDO mapping used is shown in the figure below for reference.

Further tests using various other mappings (including no PDO mapping) successfully completed the PDO assignment step, but the system subsequently timed out when attempting to transition to Operation Enabled.

HONPINE Technical Response

 The enable sequence using Object 6040 (Controlword) can be simplified as follows:

  6040 → 0x06

  6040 → 0x07

  6040 → 0x0F

The blockage is suspected to be caused by the internal evaluation logic of  Object 6041 (Statusword)  not being satisfied.

This is a standard CANopen enable logic.

PDO handling includes two separate steps:

PDO configuration

PDO usage during enable operation

PDO configuration can be performed in TwinCAT.

The drive must first be switched to configuration mode to complete PDO configuration.

After configuration is completed, the drive must be switched back to control enable (operational) mode before executing the enable sequence.