User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 18
www.trinamic.com
On reception of the correct signature in the appropriate sub-index the device restores the default
parameters and then confirms the SDO transmission (initiate download response). If the restoring failed,
the device responds with an Abort SDO Transfer (abort code: 0606 0000
h
). If a wrong signature is written,
the device refuses to restore the defaults and responds with an Abort SDO Transfer (abort code: 0800
002x
h
).
The default values are set valid after the device is reset (reset node for sub-index 1h – 7Fh, reset
communication for sub-index 2
h
) or power cycled.
reset / power cycle
default values valid
restore default
Figure 3.1 Restore procedure
On read access to the appropriate sub-index the device provides information about its default parameter
restoring capability with the following format.
Structure of restore read access
UNSIGNED 32
MSB
LSB
bits
31-1
0
Reserved (0)
0/1
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1011
h
Restore default 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
Restore all default parameters
rw
no
UNSIGNED32
no
02
h
Restore special communication
parameters
rw
no
UNSIGNED32
no
04
h
Restore motor axis 1 parameters
rw
no
UNSIGNED32
no
07
h
Restore 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.