User Manual

TMCM-1240 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03
22 / 118
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.
There are several parameter groups:
• Sub-index 0
h
: contains the largest sub-index that is supported.
• Sub-index 1
h
: restores all parameters (factory reset).
• Sub-index 2
h
: restores communication parameters 2704
h
and 2705
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 27).
Load Signature
d a o l
64
h
61
h
6F
h
6C
h
Table 27: 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
).
On read access, each sub-index provides information if it is possible to restore the parameter group. It
reads 1 if yes and 0 if no.
After the default values have been restored they will become active after the next rest or power cycle of
the TMCM-1240.
Object Description
Index Name Object Type Data Type
1011
h
Restore parameters Array UNSIGNED32
Table 28: Object Description (1011
h
)
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