Guide to CANopen Firmware Flashing for TD Robotic Joint Actuators

Highly compact and highly integrated TD series Robotic joint actuator comprises a ultra thin gearbox, a brushless DC servo motor, a dual encoders for position measurement and a powerful motion controller in a ready-to-use drive solution. Easy integration of Harmonic Drive Servo Actuators into your application is supported not only by the drive's central hollow shaft, which supports the Canbus and Canopen communication protocol, CANbus and CANopen communication protocols can be converted to each other.By updating the firmware, the CANbus communication protocol can be converted into CANopen.

Please check the Guide to CANopen Firmware Flashing for TD Robotic Joint Actuators below
First Connecting the wires of ST-Link tool
Second Connecting another interface of the wire to the download port of the actuator.
Insert the ST-Link USB interface into the computer.
Next open the downloaded STM32 ST-Link Utility
 
Step one: Power the motor
Step two: When this interface is displayed, proceed to the second step, click this icon to erase the program.
Step three：Click "Confirm” on the left after you jump out of this screen.
Step four：This symbol screen indicates that the erase program is complete
Step five: Then drag our hex fle into theSTM32 ST-LINK Utility displays this screen
Step six: Then click on this icon 
Step seven: Then click start and wait to enter When the bar is complete, it is
Complete .
Connect the actuator for testing after flashing the firmware.