Although the device status indicated Ready, the motor could not be driven using the customer’s own CiA-402 implementation.

Even when the CSV mode command was written to 0x6060 via PDO, the Mode Display (0x6061) always remained 0.

Customer Question 1

Which exact dual-encoder brand is used internally?

HONPINE Answer

In TwinCAT, the encoder is displayed as “Encoder CANopen DS402 / MDP 513”.

Internally, the dual-encoder system may vary depending on the supply chain and HONPINE’s in-house development. Multiple encoder brands are used.

Customer Question 2

Please confirm the encoder pulses per degree for this specific motor

a. Is 262,144 counts per revolution correct, as stated in your TwinCAT setup manual?

b. I originally assumed the encoder had 20-bit resolution, meaning 1,048,576 increments per revolution.

c. Is the encoder factory-configured to operate at 18-bit, resulting in 262,144 increments per revolution?

HONPINE Answer

a. The 2E encoder version is 18-bit.

262,144 counts correspond to 360 degrees of output rotation.

b. The internal encoder is a DPT dual magnetic encoder.

Due to MCU control algorithm limitations, the maximum calculation resolution is 18 bits.

c. Yes. The driver MCU processes data at 18-bit resolution, therefore

262,144 counts = 360 degrees.

Customer Question 3

Why is the “Actual Position” different from the value at object 0x200D?

Is this caused by a stored power-off offset?

When I manually move the motor, the value at 0x200D changes, but the Actual Position (0x6064) remains unchanged.

HONPINE Answer

This behavior is due to the dual-encoder architecture.

The product integrates a gear reducer.

One encoder measures the motor side, and the other measures the output side.

When the output position is within 0–360°(or ±180°), the encoder records values from 0–262,144.

If the output exceeds this range, absolute position information is lost.

Customer Question 4

Can you confirm the unit of “Target Velocity” (0x60FF)?

a. According to the datasheet, the maximum output speed is 24 RPM, corresponding to 2904 RPM on the motor side.

Multiplying this by 262,144 (18-bit encoder) results in 12,687,769.6 inc/s.

When I force this value via PDO in TwinCAT, the motor does not move.

b. However, when I set 1/10 of this value (1,268,776), the motor accepts it and starts moving.

HONPINE Answer

a. The velocity unit is 0.01 revolutions per second (motor side).

b. During factory testing, the maximum speed is limited via SDO 0x6080.

Please check this parameter.

Customer Question 5

How can I reset the stored absolute encoder information?

(As stated in the manual: “The output shaft angle is saved after power-off without a battery.”)

HONPINE Answer

 The motor supports the standard CiA-402 protocol.

Any position can be set as zero using standard position commands.

Please follow the procedure described in the documentation.

Regarding 0x8611, it is suspected to be a network-related error:

Check cables

Check whether the PC network card is supported

Check Distributed Clock (DC) synchronization loss

This monitoring is performed by all master devices and is not motor-specific, for example:

TwinCAT, PLC, MCU, Linux systems, PC-based masters, etc.

Customer Question 6

Even after disabling all position monitoring in TwinCAT, error code 0x8611 still appears

a. Which SDOs should we use to configure this in our own software?

I cannot find detailed information in the manual.

b. Is this monitoring feature specific to TwinCAT, or is it implemented inside the motor?

HONPINE Answer

0x8611 is likely a network-related error.

Please check cabling, PC network card compatibility, and DC synchronization.

Monitoring functions are part of the master system, not the motor itself.

They apply to all master devices (TwinCAT, PLC, MCU, Linux, PC, etc.).

Customer Question 7

What is the difference between “Profile Acceleration” and “Maximum Profile Acceleration”? When is the latter used?

 HONPINE Answer

These parameters are valid only in Profile Mode.

Profile Velocity: controls the target running speed

Profile Acceleration: controls the acceleration profile during motion

Customer Question 8

In the EtherCAT manual, you wrote: “(16) What are the units of velocity and acceleration?”

Does this refer to the maximum acceleration value?

Because both “Profile Acceleration” and “Maximum Profile Acceleration” clearly state the unit as cnt/s².

 HONPINE Answer

The velocity unit is 0.01 revolutions per second.

Customer Question 9

Which SDOs are linked to the “Maximum Dynamics” parameters on the TwinCAT parameter page?

 HONPINE Answer

All SDOs can be controlled.

Please refer to the SDO object dictionary file and apply parameters according to the required function.