User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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There are several parameter groups:
• Sub-index 0
h
: contains the largest sub-index that is supported.
• Sub-index 1
h
: saves all parameters.
• Sub-index 2
h
: saves communication parameters 2704
h
and 2705
h
.
• Sub-index 3
h
: saves device profile parameters.
• Sub-index 4
h
: saves motor 0 parameters.
• Sub-index 5
h
: saves motor 1 parameters.
• Sub-index 6
h
: saves motor 2 parameters.
• Sub-index 7
h
: saves motor 3 parameters.
• Sub-index 8
h
: saves motor 4 parameters.
• Sub-index 9
h
: saves motor 5 parameters.
Note
In order to avoid storage of parameters by mistake, storage is only executed
when a specific signature is written to the appropriate sub-Index. This signature
is "save" (65766173
h
, see also table 25).
Save Signature
e v a s
65
h
76
h
61
h
73
h
Table 25: Save Signature
On reception of the correct signature in the appropriate sub-index the device stores the parameter and
then confirms the SDO transmission (initiate download response). If the storing failed, the device responds
with an abort SDO transfer (abort code: 06060000
h
). If a wrong signature is written, the device refuses to
store and responds with abort SDO transfer (abort code: 0800002x
h
).
On read access, each sub-index provides information if it is possible to store the parameter group. It reads
1 if yes and 0 if no.
Object Description
Index Name Object Type Data Type
1010
h
Store Parameters Array UNSIGNED32
Table 26: Object Description (1010
h
)
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