User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 17
www.trinamic.com
On read access to the appropriate sub-index the device provides information about its storage
functionality with the following format.
Storage read access structure
UNSIGNED 32
MSB
LSB
bits
31-2
1
0
Reserved
1/0
1/0
Bit-number
Value
Meaning
31-2
0
reserved
1
0
1
Device does not save parameters autonomously
Device saves parameters autonomously
0
0
1
Device does not save parameters on command
Device saves parameters on command
Autonomous saving means that a device stores the storable parameters in a non-volatile manner without
user request.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1010
h
Store parameters
ARRAY
UNSIGNED 32
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Largest sub-index supported
ro
no
1
h
-7F
h
no
01
h
Save all parameters
rw
no
UNSIGNED32
no
02
h
Save special communication
parameters
rw
no
UNSIGNED32
no
04
h
Save motor axis 1 parameters
rw
no
UNSIGNED32
no
07
h
Save device parameters
(TRINAMIC specific parameters)
rw
no
UNSIGNED32
no
Please mind the figures above which explain the value ranges of the write access and the read access for
the sub-indices.
3.1.10 Object 1011
h
: Restore Default 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.
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
: restores all parameters.
- Sub-index 2
h
: restores communication parameters 100C
h
, 100D
h
, 1015
h
, 1017
h
, and 1029
h
.
- Sub-index 4
h
: restores motor axis 1 parameters (6040
h
… 6084
h
)
- Sub-index 7
h
: restores device parameters / TRINAMIC specific parameters (2000
h
… 270E
h
).
In order to avoid the restoring of default parameters by mistake, restoring is only executed when a
specific signature is written to the appropriate sub-index. This signature is load.
Signature
MSB
LSB
ASCII
d
a
o
l
hex
64
h
61
h
6F
h
6C
h