User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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Load Signature
d a o l
64
h
61
h
6F
h
6C
h
Table 28: 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-6212.
Object Description
Index Name Object Type Data Type
1011
h
Restore parameters Array UNSIGNED32
Table 29: Object Description (1011
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
01h Restore all parameters rw no UNSIGNED32 —
02h Restore communication parameters rw no UNSIGNED32 —
03h Restore device profile parameters rw no UNSIGNED32 —
04h Restore motor axis 0 parameters rw no UNSIGNED32 —
04h Restore motor axis 1 parameters rw no UNSIGNED32 —
04h Restore motor axis 2 parameters rw no UNSIGNED32 —
04h Restore motor axis 3 parameters rw no UNSIGNED32 —
04h Restore motor axis 4 parameters rw no UNSIGNED32 —
04h Restore motor axis 5 parameters rw no UNSIGNED32 —
Table 30: Entry Description (1011
h
)
3.1.11 Object 1014
h
: COB-ID Emergency Object
This object defines the COB-ID of the emergency object (EMCY).
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