User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 16
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3.1.7 Object 100C
h
: Guard Time
The objects at index 100C
h
and 100D
h
shall indicate the configured guard time respectively the life time
factor. The life time factor multiplied with the guard time gives the life time for the life guarding protocol.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
100C
h
Guard time
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
ro, if life guarding is
not supported
no
UNSIGNED16
0000
h
3.1.8 Object 100D
h
: Life Time Factor
The life time factor multiplied with the guard time gives the life time for the life guarding protocol.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
100D
h
Life time factor
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
ro, if life guarding is
not supported
no
UNSIGNED8
00
h
3.1.9 Object 1010
h
: Store Parameters
This object supports the saving of parameters in non volatile memory. By read access the device
provides information about its saving capabilities.
This command can only be carried out if the module is in ready to switch on mode.
SEVERAL PARAMETER GROUPS ARE DISTINGUISHED:
- Sub-index 0
h
: contains the largest sub-index that is supported.
- Sub-index 1
h
: saves all parameters.
- Sub-index 2
h
: saves communication parameters 100C
h
, 100D
h
, 1015
h
, 1017
h
, and 1029
h
.
- Sub-index 4
h
: saves motor axis 1 parameters (6040
h
… 6084
h
)
- Sub-index 7
h
: saves device parameters / TRINAMIC specific parameters (2000
h
… 270E
h
).
In order to avoid storage of parameters by mistake, storage is only executed when a specific signature is
written to the appropriate Sub-Index. This signature is safe.
Storage write access structure
Signature
MSB
LSB
ISO 8859 ASCII
e
v
a
s
hex
65
h
76
h
61
h
73
h
On reception of the correct signature in the appropriate sub-index the device stores the parameter and
then confirms the SDO transmission (initiate download response). If the storing failed, the device
responds with an Abort SDO transfer (abort code: 0606 0000
h
).
If a wrong signature is written, the device refuses to store and responds with Abort SDO transfer (abort
code: 0800 002x
h
).