User Manual

TMCM-3212 CANopen
®
Firmware Manual • Firmware Version V3.20 | Document Revision V1.03 • 2017-JUN-09
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Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
01h Save all parameters rw no UNSIGNED32 —
02h Save communication parameters rw no UNSIGNED32 —
03h Save device profile parameters rw no UNSIGNED32 —
04h Save motor axis 0 parameters rw no UNSIGNED32 —
04h Save motor axis 1 parameters rw no UNSIGNED32 —
04h Save motor axis 2 parameters rw no UNSIGNED32 —
Table 26: Entry Description (1010
h
)
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.
• Sub-index 2
h
: restores communication parameters 100C
h
, 100D
h
, 1015
h
, 1017
h
, and 1029
h
.
• Sub-index 3
h
: restores device profile parameters.
• Sub-index 4
h
: restores motor 0 parameters.
• Sub-index 5
h
: restores motor 1 parameters.
• Sub-index 6
h
: restores motor 2 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
).
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