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② Download configuration, slave station state machine automatically switches from PreOp to OP state, SDO and
PDO can receive and send messages at this time. XDPPro software can monitor or modify the mapping of object
dictionary. The specific correspondence is as follows:
③ First, set P0-00 to 1 to start CiA402 motion control function, then modify D6257 (6060h is 6) to HM
mode. Set the return to origin mode through D6258 (6098h), after setting return to origin speed through
D6259-D6263 (6099h, 609Ah), modify D6256 (control word 6040h is 0x06 → 0x07 → 0x0F) to enable the
slave station, and then modify D6256 (control word 6040h is 0x0F → 0x1F) to start the return to origin
mode. Other monitoring parameters are monitored by D6000-D6011. In the process of returning to the origin,
if the origin signal is triggered, it will decelerate and stop according to the corresponding way of returning to
the origin. If you need to return to the origin again, first change 6040h to 0x06, and then repeat the above
operation.
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