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5. Operation example
Taking the connection of Xinje DF3E low-voltage servo as an example, the configuration and control process of
HM mode are briefly introduced. The specific use method of servo software is shown in Appendix 10.
Make terminal assignment. Modify P5-22, P5-23, P5-27 through the servo software or configure P-OT, N-OT,
SPD-D signal for index 2516,2517,251B through SDO read-write command. If the assignment is not correct, then
Homing error = 1.
① click [scan] or [add slave station] in CANopen configuration interface, configure the object binding of TxPDO
and RxPDO. Here, several common objects of HM mode are bound. If you have other requirements, you can add
them by yourself and enable the configured PDO. The specific configuration is shown in the figure below.
TxPDO (monitor parameters):
RxPDO (control parameters):
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