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TxPDO (monitor parameters):
RxPDO (control parameters):
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 1) to PP
mode, modify D6256 (control word 6040h is 0x06 → 0x07 → 0x0f) to enable the slave station, and then
modify the control word 0x4F → 0x5F to realize relative position movement and 0x0F → 0x1F to
realize absolute position movement after setting position, speed, acceleration and deceleration
parameters through D6258-D6264. Other monitoring parameters are monitored through D6000-D6008.
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