Xinje DF3E Series

85
③ First, set P0-00 to 1 to start CiA402 motion control function, then modify D6257 (6060h is 4) to TQ mode.
After setting torque and torque slope parameters through D6258 (6071h), modify D6256 (control word 6040h is
0x06→0x07→0x0F) to enable the slave station, start to run in speed mode. Other parameters are monitored
through D6000-D6008.
4.6.3.4 HM mode
HM mode (i.e. return to origin mode) is a position control mode that specifies various action speeds, generates
position instructions in the servo driver, and executes return to zero action. In this mode, external signals (POT,
NOT, SPD-D) must be used together.
1. Related parameters
HM control mode related object (command・setting type)
Register
Explanation
RXPDO[0x6040]
Control word, modify the control word to turn on the origin return
RXPDO[0x6060]
Set to 6 when the motor is disabled
RXPDO[0x607F]
Max internal speed
RXPDO[0x6080]
Max motor speed
RXPDO[0x60C5]
Max acceleration speed
RXPDO[0x60C6]
Max deceleration speed
RXPDO[0x6098]
Return to origin mode
RXPDO[0x6099]
Return to origin speed
RXPDO[0x609A]
Return to origin acceleration speed
PV control mode related object (command・monitor type)
Register
Explanation
TXPDO[0x6041]
Status word
TXPDO[0x6061]
Mode query
TXPDO[0x6064]
Position feedback (motor actual position)
TXPDO[0x606C]
Speed feedback
TXPDO[0x6077]
Actual torque