User Manual

PD42-1270 CANopen
®
Firmware Manual • Firmware Version V3.19 | Document Revision V1.0 • 2017-Mar-02
21 / 106
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
01h Save all parameters rw no UNSIGNED32 —
02h Save communication parameters rw no UNSIGNED32 —
03h Save device profile parameters rw no UNSIGNED32 —
04h Save motor axis 0 parameters rw no UNSIGNED32 —
Table 25: Entry Description (1010
h
)
3.1.10 Object 1011
h
: Restore Parameters
With this object the default values of parameters according to the communication or device profile are
restored. By read access the device provides information about its capabilities to restore these values.
Note
This command can only be carried out if the module is in ready to switch on mode.
There are several parameter groups:
• Sub-index 0
h
: contains the largest sub-index that is supported.
• Sub-index 1
h
: restores all parameters.
• Sub-index 2
h
: restores communication parameters 100C
h
, 100D
h
, 1015
h
, 1017
h
, and 1029
h
.
• Sub-index 3
h
: restores device profile parameters.
• Sub-index 4
h
: restores motor 0 parameters.
Note
In order to avoid restoring the parameters by mistake, restoring is only executed
when a specific signature is written to the appropriate sub-Index. This signature
is "load" (64616F6C
h
, see also table 26).
Load Signature
d a o l
64
h
61
h
6F
h
6C
h
Table 26: Load Signature
On reception of the correct signature in the appropriate sub-index the device restores the parameter
and then confirms the SDO transmission (initiate download response). If the restoring failed, the device
responds with an abort SDO transfer (abort code: 06060000
h
). If a wrong signature is written, the device
refuses to restore and responds with abort SDO transfer (abort code: 0800002x
h
).
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