TMCM-351 CANopen Firmware Manual - Trinamic

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TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 20 6.1.3 Object 1005 h: COB-ID SYNC Message This object defines the COB-ID of the synchronization Object (SYNC). Further, it defines whether the module generates the SYNC. OBJECT DESCRIPTION Index Name Object Code Data Type 1005 h COB-ID SYNC Message Variable UNSIGNED32 ENTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 00 h rw no UNSIGNED32 80 h 6.1.4 Object 1008 h: Manufacturer device name This object contains the manufacturer device name. OBJECT DESCRIPTION Index Name Object Code Data Type 1008 h Manufacturer device name Variable Visible string ENTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 00h Const. no no TMCM-341, TMCM-342, TMCM-343 or TMCM-351 6.1.5 Object 1009 h: Manufacturer hardware version This object contains the hardware version description. OBJECT DESCRIPTION Index Name Object Code Data Type 1009 h Manufacturer hardware version Variable Visible string ENTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 00 h Const. no no Depends on device, e.g. 1.0 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 21 6.1.6 Object 1010 h: Store parameters This object supports the saving of parameters in non volatile memory. By read access the device provides information about its saving capabilities. This command can only be carried out if the module is in ready to switch on mode. Several parameter groups are distinguished: ˗ Sub-index 0 contains the largest sub-index that is supported. ˗ Sub-index 1 refers to all parameters that can be stored on the device. ˗ Sub-index 3 refers to application related parameters (index 6000 h - 9FFF h TRINAMICs specific application parameters). ˗ Sub-index 4 stores parameters for the motor axis 0. ˗ Sub-index 5 stores parameters for the motor axis 1. ˗ Sub-index 6 stores parameters for the motor axis 2. In order to avoid storage of parameters by mistake, storage is only executed when the specific signature is written to the appropriate Sub-Index. The signature is safe. Storage write access structure Signature MSB LSB ISO 8859 ASCII e v a s hex 65 h 76 h 61 h 73 h 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: 0606 0000 h ). If a wrong signature is written, the device refuses to store and responds with Abort SDO transfer (abort code: 0800 002x h ). On read access to the appropriate sub-index the device provides information about its storage functionality with the following format. Storage read access structure UNSIGNED 32 MSB LSB bits 31-2 1 0 reserved 1/0 1/0 Bit-number Value Meaning 31-2 0 reserved 1 0 Device does not safe parameters autonomously 1 Device safes parameters autonomously 0 0 Device does not safe parameters on command 1 Device safes parameters on command Autonomous saving means that a device stores the storable parameters in a non-volatile manner without user request. OBJECT DESCRIPTION Index Name Object Code Data Type 1010 h Store parameters ARRAY UNSIGNED 32 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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TMCM-351 CANopen Firmware Manual - Trinamic

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