User Manual

TMCM-1276 CANopen
®
Firmware Manual Firmware Version V3.22 | Document Revision V1.00 2018-JUN-28
21 / 114
3.1.10 Object 1011
h
: Restore Parameters
With this object the default values of parameters according to the communication or device prole 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.
Sub-index 2
h
: restores communication parameters 100C
h
, 100D
h
, 1015
h
, 1017
h
, and 1029
h
.
Sub-index 3
h
: restores device prole 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 specic 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 conrms 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-1276.
Object Description
Index Name Object Type Data Type
1011
h
Restore parameters Array UNSIGNED32
Table 27: Object Description (1011
h
)
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com