Save Objects CAUTION The incorrect use of this feature may cause the controller not be able to start again. Therefore read the chapter completely before using this feature. Note As an alternative objects can get set and stored with the configuration file. Keep in mind, that the configuration file has the higher priority. Objects, which are stored with the mechanism described here as well as in the configuration file, will get the value of the file. General information A subset of objects can be stored and will get loaded automatically with the next start. Moreover the values will be kept during a firmware update. Only whole sets of objects (called "categories") can be stored, it is not possible to store single objects. A saveable object can belong to one of the following categories: Communication: parameters related to the external interfaces of the controller, like node identifiers, baud rates, PDO settings, and so on. Application: parameters related to the operating modes. Customer: parameters written and read solely by the customer/user, and ignored by the controller firmware Drive: Parameters related to the motor and the sensors (BLDC/stepper, closed/open loop, ,...). Some are set and saved by the Autosetup procedure. Tuning: Motor and encoder related parameters which are either be measured by the Autosetup or must be taken from the data sheet, for instance the number of pole-pairs and the peak current. If an object doesn't belong to one of these categories, it cannot be saved. This applies for instance to the status and control words, and all objects depending on the status of the controller. The list of objects belonging to each category is provided below. Furthermore, the category of each object is also provided in the chapter " Object directory description". Category: communication 1005h: COB-ID Sync 1007h: Synchronous Window Length 100Ch: Guard Time 100Dh: Live Time Factor 1014h: COB-ID EMCY 1017h: Producer Heartbeat Time 1400h: Receive PDO 1 Communication Parameter 1401h: Receive PDO 2 Communication Parameter 1402h: Receive PDO 3 Communication Parameter 1403h: Receive PDO 4 Communication Parameter 1404h: Receive PDO 5 Communication Parameter 1405h: Receive PDO 6 Communication Parameter 1406h: Receive PDO 7 Communication Parameter 1407h: Receive PDO 8 Communication Parameter 1600h: Receive PDO 1 Mapping Parameter 1601h: Receive PDO 2 Mapping Parameter 1602h: Receive PDO 3 Mapping Parameter 1603h: Receive PDO 4 Mapping Parameter 1604h: Receive PDO 5 Mapping Parameter 1605h: Receive PDO 6 Mapping Parameter 1606h: Receive PDO 7 Mapping Parameter 1607h: Receive PDO 8 Mapping Parameter 1800h: Transmit PDO 1 Communication Parameter 1801h: Transmit PDO 2 Communication Parameter 1802h: Transmit PDO 3 Communication Parameter 1803h: Transmit PDO 4 Communication Parameter 1804h: Transmit PDO 5 Communication Parameter 1805h: Transmit PDO 6 Communication Parameter 1806h: Transmit PDO 7 Communication Parameter 1807h: Transmit PDO 8 Communication Parameter 1A00h: Transmit PDO 1 Mapping Parameter 1A01h: Transmit PDO 2 Mapping Parameter 1A02h: Transmit PDO 3 Mapping Parameter 1A03h: Transmit PDO 4 Mapping Parameter 1A04h: Transmit PDO 5 Mapping Parameter 1A05h: Transmit PDO 6 Mapping Parameter 1A06h: Transmit PDO 7 Mapping Parameter 1A07h: Transmit PDO 8 Mapping Parameter 2005h: CANopen Baudrate 2007h: CANopen Config 2009h: CANopen NodeID 2028h: MODBUS Slave Address 202Ah: MODBUS RTU Baudrate 202Dh: MODBUS RTU Parity 2102h: Fieldbus Module Control 3502h: MODBUS Rx PDO Mapping 3602h: MODBUS Tx PDO Mapping Category: application 2033h: Plunger Block 2034h: Upper Voltage Warning Level 2035h: Lower Voltage Warning Level 2036h: Open Loop Current Reduction Idle Time 2037h: Open Loop Current Reduction Value/factor 2038h: Brake Controller Timing 203Ah: Homing On Block Configuration 203Dh: Torque Window 203Eh: Torque Window Time 2056h: Limit Switch Tolerance Band 2057h: Clock Direction Multiplier 2058h: Clock Direction Divider 205Bh: Clock Direction Or Clockwise/Counter Clockwise Mode 2060h: Compensate Polepair Count 2061h: Velocity Numerator 2062h: Velocity Denominator 2063h: Acceleration Numerator 2064h: Acceleration Denominator 2065h: Jerk Numerator 2066h: Jerk Denominator 2067h: Jerk Limit (internal) 2084h: Bootup Delay 2200h: Sampler Control 2202h: Sample Data Selection 2204h: Sample Time In Ms 2300h: NanoJ Control 2310h: NanoJ Input Data Selection 2320h: NanoJ Output Data Selection 2330h: NanoJ In/output Data Selection 2410h: NanoJ Init Parameters 320Ah: Motor Drive Sensor Display Open Loop 320Bh: Motor Drive Sensor Display Closed Loop 3210h: Motor Drive Parameter Set 3212h: Motor Drive Flags 3221h: Analogue Inputs Control 3240h: Digital Inputs Control 3242h: Digital Input Routing 3250h: Digital Outputs Control 3252h: Digital Output Routing 3321h: Analogue Input Offset 3322h: Analogue Input Pre-scaling 3700h: Following Error Option Code 6040h: Controlword 6042h: Vl Target Velocity 6046h: Vl Velocity Min Max Amount 6048h: Vl Velocity Acceleration 6049h: Vl Velocity Deceleration 604Ah: Vl Velocity Quick Stop 604Ch: Vl Dimension Factor 605Ah: Quick Stop Option Code 605Bh: Shutdown Option Code 605Ch: Disable Option Code 605Dh: Halt Option Code 605Eh: Fault Option Code 6060h: Modes Of Operation 6065h: Following Error Window 6066h: Following Error Time Out 6067h: Position Window 6068h: Position Window Time 606Dh: Velocity Window 606Eh: Velocity Window Time 6071h: Target Torque 6072h: Max Torque 607Ah: Target Position 607Bh: Position Range Limit 607Ch: Home Offset 607Dh: Software Position Limit 607Eh: Polarity 6081h: Profile Velocity 6082h: End Velocity 6083h: Profile Acceleration 6084h: Profile Deceleration 6085h: Quick Stop Deceleration 6086h: Motion Profile Type 6087h: Torque Slope 608Fh: Position Encoder Resolution 6091h: Gear Ratio 6092h: Feed Constant 6098h: Homing Method 6099h: Homing Speed 609Ah: Homing Acceleration 60A4h: Profile Jerk 60C1h: Interpolation Data Record 60C2h: Interpolation Time Period 60C4h: Interpolation Data Configuration 60C5h: Max Acceleration 60C6h: Max Deceleration 60F2h: Positioning Option Code 60FEh: Digital Outputs 60FFh: Target Velocity Category: customer No object is in this classification. Category: drive 3202h: Motor Drive Submode Select Category: tuning 2030h: Pole Pair Count 2031h: Maximum Current 2032h: Maximum Speed 203Bh: I2t Parameters 2050h: Encoder Alignment 2051h: Encoder Optimization 2052h: Encoder Resolution 2059h: Encoder Configuration Starting save process DANGER The motor has to stand still during the process of saving and is not allowed to get started while saving. CAUTION While saving the function of the fieldbus may be affected. The process of saving may need - depending on the type of controller - up to ten seconds. Never disconnect the power supply during this period. The nonobservance may led to a broken file system, as a result the controller gets unusable. Therefore always wait for the controller to signal the successful process of saving with the value "1" in the correspondent sub-index in object 1010h. For each category there is a sub-index in object 1010h. The only thing to do to save all objects of that category is to write the value 65766173h 1 to the sub-index. The end of the save process will be signalled by the controller by writing the value "1" to the sub-index. The following table lists the subentry of the object 1010h and the related category. Sub-index Category 01h All categories 02h Communication 03h Application 04h Customer 05h Drive 06h Tuning Drop saved objects CAUTION After deleting the saved values the controller will reboot. To drop all saved objects or a category of saved objects the value 64616F6Ch needs to be written to the object 1011h 2. The following subindeces are related to a category: Sub-index Category 01h All categories (reset to factory default) 02h Communication 03h Application 04h Customer 05h Drive 06h Tuning Thereupon the saved objects will get deleted. The controller will reboot after deleting the values. Verify Configuration The object 1020h can be used to verify the configuration. It acts like a "modified marker" in most common text editors: As soon a file in the editor gets modified, a marker (normally an asterisk) will be added. The subentries of the object 1020h can get set to a value but will get reset to "0" as soon any object in the object dictionary change it's value (except the save operation). The following order will make verifying possible: An external tool or bus master configurers the controller. The tool or master sets the value 1020h. The tool or master activates saving of all objects 1010h:01 = 65766173h. The date / time in the object 1020h will get saved as well. After a restart of the controller, the master can check the value in 1020h:01h. In case, the value is "0", the object dictionary was modified after loading the saved values. The 1 This corresponds to decimal 1702257011d or the ASCII string " save" 2 This corresponds to decimal 1684107116d or the ASCII string " load"
Save Objects CAUTION The incorrect use of this feature may cause the controller not be able to start again. Therefore read the chapter completely before using this feature. Note As an alternative objects can get set and stored with the configuration file. Keep in mind, that the configuration file has the higher priority. Objects, which are stored with the mechanism described here as well as in the configuration file, will get the value of the file. General information A subset of objects can be stored and will get loaded automatically with the next start. Moreover the values will be kept during a firmware update. Only whole sets of objects (called "categories") can be stored, it is not possible to store single objects. A saveable object can belong to one of the following categories: Communication: parameters related to the external interfaces of the controller, like node identifiers, baud rates, PDO settings, and so on. Application: parameters related to the operating modes. Customer: parameters written and read solely by the customer/user, and ignored by the controller firmware Drive: Parameters related to the motor and the sensors (BLDC/stepper, closed/open loop, ,...). Some are set and saved by the Autosetup procedure. Tuning: Motor and encoder related parameters which are either be measured by the Autosetup or must be taken from the data sheet, for instance the number of pole-pairs and the peak current. If an object doesn't belong to one of these categories, it cannot be saved. This applies for instance to the status and control words, and all objects depending on the status of the controller. The list of objects belonging to each category is provided below. Furthermore, the category of each object is also provided in the chapter " Object directory description". Category: communication 1005h: COB-ID Sync 1007h: Synchronous Window Length 100Ch: Guard Time 100Dh: Live Time Factor 1014h: COB-ID EMCY 1017h: Producer Heartbeat Time 1400h: Receive PDO 1 Communication Parameter 1401h: Receive PDO 2 Communication Parameter 1402h: Receive PDO 3 Communication Parameter 1403h: Receive PDO 4 Communication Parameter 1404h: Receive PDO 5 Communication Parameter 1405h: Receive PDO 6 Communication Parameter 1406h: Receive PDO 7 Communication Parameter 1407h: Receive PDO 8 Communication Parameter 1600h: Receive PDO 1 Mapping Parameter 1601h: Receive PDO 2 Mapping Parameter 1602h: Receive PDO 3 Mapping Parameter 1603h: Receive PDO 4 Mapping Parameter 1604h: Receive PDO 5 Mapping Parameter 1605h: Receive PDO 6 Mapping Parameter 1606h: Receive PDO 7 Mapping Parameter 1607h: Receive PDO 8 Mapping Parameter 1800h: Transmit PDO 1 Communication Parameter 1801h: Transmit PDO 2 Communication Parameter 1802h: Transmit PDO 3 Communication Parameter 1803h: Transmit PDO 4 Communication Parameter 1804h: Transmit PDO 5 Communication Parameter 1805h: Transmit PDO 6 Communication Parameter 1806h: Transmit PDO 7 Communication Parameter 1807h: Transmit PDO 8 Communication Parameter 1A00h: Transmit PDO 1 Mapping Parameter 1A01h: Transmit PDO 2 Mapping Parameter 1A02h: Transmit PDO 3 Mapping Parameter 1A03h: Transmit PDO 4 Mapping Parameter 1A04h: Transmit PDO 5 Mapping Parameter 1A05h: Transmit PDO 6 Mapping Parameter 1A06h: Transmit PDO 7 Mapping Parameter 1A07h: Transmit PDO 8 Mapping Parameter 2005h: CANopen Baudrate 2007h: CANopen Config 2009h: CANopen NodeID 2028h: MODBUS Slave Address 202Ah: MODBUS RTU Baudrate 202Dh: MODBUS RTU Parity 2102h: Fieldbus Module Control 3502h: MODBUS Rx PDO Mapping 3602h: MODBUS Tx PDO Mapping Category: application 2033h: Plunger Block 2034h: Upper Voltage Warning Level 2035h: Lower Voltage Warning Level 2036h: Open Loop Current Reduction Idle Time 2037h: Open Loop Current Reduction Value/factor 2038h: Brake Controller Timing 203Ah: Homing On Block Configuration 203Dh: Torque Window 203Eh: Torque Window Time 2056h: Limit Switch Tolerance Band 2057h: Clock Direction Multiplier 2058h: Clock Direction Divider 205Bh: Clock Direction Or Clockwise/Counter Clockwise Mode 2060h: Compensate Polepair Count 2061h: Velocity Numerator 2062h: Velocity Denominator 2063h: Acceleration Numerator 2064h: Acceleration Denominator 2065h: Jerk Numerator 2066h: Jerk Denominator 2067h: Jerk Limit (internal) 2084h: Bootup Delay 2200h: Sampler Control 2202h: Sample Data Selection 2204h: Sample Time In Ms 2300h: NanoJ Control 2310h: NanoJ Input Data Selection 2320h: NanoJ Output Data Selection 2330h: NanoJ In/output Data Selection 2410h: NanoJ Init Parameters 320Ah: Motor Drive Sensor Display Open Loop 320Bh: Motor Drive Sensor Display Closed Loop 3210h: Motor Drive Parameter Set 3212h: Motor Drive Flags 3221h: Analogue Inputs Control 3240h: Digital Inputs Control 3242h: Digital Input Routing 3250h: Digital Outputs Control 3252h: Digital Output Routing 3321h: Analogue Input Offset 3322h: Analogue Input Pre-scaling 3700h: Following Error Option Code 6040h: Controlword 6042h: Vl Target Velocity 6046h: Vl Velocity Min Max Amount 6048h: Vl Velocity Acceleration 6049h: Vl Velocity Deceleration 604Ah: Vl Velocity Quick Stop 604Ch: Vl Dimension Factor 605Ah: Quick Stop Option Code 605Bh: Shutdown Option Code 605Ch: Disable Option Code 605Dh: Halt Option Code 605Eh: Fault Option Code 6060h: Modes Of Operation 6065h: Following Error Window 6066h: Following Error Time Out 6067h: Position Window 6068h: Position Window Time 606Dh: Velocity Window 606Eh: Velocity Window Time 6071h: Target Torque 6072h: Max Torque 607Ah: Target Position 607Bh: Position Range Limit 607Ch: Home Offset 607Dh: Software Position Limit 607Eh: Polarity 6081h: Profile Velocity 6082h: End Velocity 6083h: Profile Acceleration 6084h: Profile Deceleration 6085h: Quick Stop Deceleration 6086h: Motion Profile Type 6087h: Torque Slope 608Fh: Position Encoder Resolution 6091h: Gear Ratio 6092h: Feed Constant 6098h: Homing Method 6099h: Homing Speed 609Ah: Homing Acceleration 60A4h: Profile Jerk 60C1h: Interpolation Data Record 60C2h: Interpolation Time Period 60C4h: Interpolation Data Configuration 60C5h: Max Acceleration 60C6h: Max Deceleration 60F2h: Positioning Option Code 60FEh: Digital Outputs 60FFh: Target Velocity Category: customer No object is in this classification. Category: drive 3202h: Motor Drive Submode Select Category: tuning 2030h: Pole Pair Count 2031h: Maximum Current 2032h: Maximum Speed 203Bh: I2t Parameters 2050h: Encoder Alignment 2051h: Encoder Optimization 2052h: Encoder Resolution 2059h: Encoder Configuration Starting save process DANGER The motor has to stand still during the process of saving and is not allowed to get started while saving. CAUTION While saving the function of the fieldbus may be affected. The process of saving may need - depending on the type of controller - up to ten seconds. Never disconnect the power supply during this period. The nonobservance may led to a broken file system, as a result the controller gets unusable. Therefore always wait for the controller to signal the successful process of saving with the value "1" in the correspondent sub-index in object 1010h. For each category there is a sub-index in object 1010h. The only thing to do to save all objects of that category is to write the value 65766173h 1 to the sub-index. The end of the save process will be signalled by the controller by writing the value "1" to the sub-index. The following table lists the subentry of the object 1010h and the related category. Sub-index Category 01h All categories 02h Communication 03h Application 04h Customer 05h Drive 06h Tuning Drop saved objects CAUTION After deleting the saved values the controller will reboot. To drop all saved objects or a category of saved objects the value 64616F6Ch needs to be written to the object 1011h 2. The following subindeces are related to a category: Sub-index Category 01h All categories (reset to factory default) 02h Communication 03h Application 04h Customer 05h Drive 06h Tuning Thereupon the saved objects will get deleted. The controller will reboot after deleting the values. Verify Configuration The object 1020h can be used to verify the configuration. It acts like a "modified marker" in most common text editors: As soon a file in the editor gets modified, a marker (normally an asterisk) will be added. The subentries of the object 1020h can get set to a value but will get reset to "0" as soon any object in the object dictionary change it's value (except the save operation). The following order will make verifying possible: An external tool or bus master configurers the controller. The tool or master sets the value 1020h. The tool or master activates saving of all objects 1010h:01 = 65766173h. The date / time in the object 1020h will get saved as well. After a restart of the controller, the master can check the value in 1020h:01h. In case, the value is "0", the object dictionary was modified after loading the saved values. The
General information A subset of objects can be stored and will get loaded automatically with the next start. Moreover the values will be kept during a firmware update. Only whole sets of objects (called "categories") can be stored, it is not possible to store single objects. A saveable object can belong to one of the following categories: Communication: parameters related to the external interfaces of the controller, like node identifiers, baud rates, PDO settings, and so on. Application: parameters related to the operating modes. Customer: parameters written and read solely by the customer/user, and ignored by the controller firmware Drive: Parameters related to the motor and the sensors (BLDC/stepper, closed/open loop, ,...). Some are set and saved by the Autosetup procedure. Tuning: Motor and encoder related parameters which are either be measured by the Autosetup or must be taken from the data sheet, for instance the number of pole-pairs and the peak current. If an object doesn't belong to one of these categories, it cannot be saved. This applies for instance to the status and control words, and all objects depending on the status of the controller. The list of objects belonging to each category is provided below. Furthermore, the category of each object is also provided in the chapter " Object directory description".
Category: communication 1005h: COB-ID Sync 1007h: Synchronous Window Length 100Ch: Guard Time 100Dh: Live Time Factor 1014h: COB-ID EMCY 1017h: Producer Heartbeat Time 1400h: Receive PDO 1 Communication Parameter 1401h: Receive PDO 2 Communication Parameter 1402h: Receive PDO 3 Communication Parameter 1403h: Receive PDO 4 Communication Parameter 1404h: Receive PDO 5 Communication Parameter 1405h: Receive PDO 6 Communication Parameter 1406h: Receive PDO 7 Communication Parameter 1407h: Receive PDO 8 Communication Parameter 1600h: Receive PDO 1 Mapping Parameter 1601h: Receive PDO 2 Mapping Parameter 1602h: Receive PDO 3 Mapping Parameter 1603h: Receive PDO 4 Mapping Parameter 1604h: Receive PDO 5 Mapping Parameter 1605h: Receive PDO 6 Mapping Parameter 1606h: Receive PDO 7 Mapping Parameter 1607h: Receive PDO 8 Mapping Parameter 1800h: Transmit PDO 1 Communication Parameter 1801h: Transmit PDO 2 Communication Parameter 1802h: Transmit PDO 3 Communication Parameter 1803h: Transmit PDO 4 Communication Parameter 1804h: Transmit PDO 5 Communication Parameter 1805h: Transmit PDO 6 Communication Parameter 1806h: Transmit PDO 7 Communication Parameter 1807h: Transmit PDO 8 Communication Parameter 1A00h: Transmit PDO 1 Mapping Parameter 1A01h: Transmit PDO 2 Mapping Parameter 1A02h: Transmit PDO 3 Mapping Parameter 1A03h: Transmit PDO 4 Mapping Parameter 1A04h: Transmit PDO 5 Mapping Parameter 1A05h: Transmit PDO 6 Mapping Parameter 1A06h: Transmit PDO 7 Mapping Parameter 1A07h: Transmit PDO 8 Mapping Parameter 2005h: CANopen Baudrate 2007h: CANopen Config 2009h: CANopen NodeID 2028h: MODBUS Slave Address 202Ah: MODBUS RTU Baudrate 202Dh: MODBUS RTU Parity 2102h: Fieldbus Module Control 3502h: MODBUS Rx PDO Mapping 3602h: MODBUS Tx PDO Mapping
Category: application 2033h: Plunger Block 2034h: Upper Voltage Warning Level 2035h: Lower Voltage Warning Level 2036h: Open Loop Current Reduction Idle Time 2037h: Open Loop Current Reduction Value/factor 2038h: Brake Controller Timing 203Ah: Homing On Block Configuration 203Dh: Torque Window 203Eh: Torque Window Time 2056h: Limit Switch Tolerance Band 2057h: Clock Direction Multiplier 2058h: Clock Direction Divider 205Bh: Clock Direction Or Clockwise/Counter Clockwise Mode 2060h: Compensate Polepair Count 2061h: Velocity Numerator 2062h: Velocity Denominator 2063h: Acceleration Numerator 2064h: Acceleration Denominator 2065h: Jerk Numerator 2066h: Jerk Denominator 2067h: Jerk Limit (internal) 2084h: Bootup Delay 2200h: Sampler Control 2202h: Sample Data Selection 2204h: Sample Time In Ms 2300h: NanoJ Control 2310h: NanoJ Input Data Selection 2320h: NanoJ Output Data Selection 2330h: NanoJ In/output Data Selection 2410h: NanoJ Init Parameters 320Ah: Motor Drive Sensor Display Open Loop 320Bh: Motor Drive Sensor Display Closed Loop 3210h: Motor Drive Parameter Set 3212h: Motor Drive Flags 3221h: Analogue Inputs Control 3240h: Digital Inputs Control 3242h: Digital Input Routing 3250h: Digital Outputs Control 3252h: Digital Output Routing 3321h: Analogue Input Offset 3322h: Analogue Input Pre-scaling 3700h: Following Error Option Code 6040h: Controlword 6042h: Vl Target Velocity 6046h: Vl Velocity Min Max Amount 6048h: Vl Velocity Acceleration 6049h: Vl Velocity Deceleration 604Ah: Vl Velocity Quick Stop 604Ch: Vl Dimension Factor 605Ah: Quick Stop Option Code 605Bh: Shutdown Option Code 605Ch: Disable Option Code 605Dh: Halt Option Code 605Eh: Fault Option Code 6060h: Modes Of Operation 6065h: Following Error Window 6066h: Following Error Time Out 6067h: Position Window 6068h: Position Window Time 606Dh: Velocity Window 606Eh: Velocity Window Time 6071h: Target Torque 6072h: Max Torque 607Ah: Target Position 607Bh: Position Range Limit 607Ch: Home Offset 607Dh: Software Position Limit 607Eh: Polarity 6081h: Profile Velocity 6082h: End Velocity 6083h: Profile Acceleration 6084h: Profile Deceleration 6085h: Quick Stop Deceleration 6086h: Motion Profile Type 6087h: Torque Slope 608Fh: Position Encoder Resolution 6091h: Gear Ratio 6092h: Feed Constant 6098h: Homing Method 6099h: Homing Speed 609Ah: Homing Acceleration 60A4h: Profile Jerk 60C1h: Interpolation Data Record 60C2h: Interpolation Time Period 60C4h: Interpolation Data Configuration 60C5h: Max Acceleration 60C6h: Max Deceleration 60F2h: Positioning Option Code 60FEh: Digital Outputs 60FFh: Target Velocity
Category: tuning 2030h: Pole Pair Count 2031h: Maximum Current 2032h: Maximum Speed 203Bh: I2t Parameters 2050h: Encoder Alignment 2051h: Encoder Optimization 2052h: Encoder Resolution 2059h: Encoder Configuration
Starting save process DANGER The motor has to stand still during the process of saving and is not allowed to get started while saving. CAUTION While saving the function of the fieldbus may be affected. The process of saving may need - depending on the type of controller - up to ten seconds. Never disconnect the power supply during this period. The nonobservance may led to a broken file system, as a result the controller gets unusable. Therefore always wait for the controller to signal the successful process of saving with the value "1" in the correspondent sub-index in object 1010h. For each category there is a sub-index in object 1010h. The only thing to do to save all objects of that category is to write the value 65766173h 1 to the sub-index. The end of the save process will be signalled by the controller by writing the value "1" to the sub-index. The following table lists the subentry of the object 1010h and the related category. Sub-index Category 01h All categories 02h Communication 03h Application 04h Customer 05h Drive 06h Tuning
Drop saved objects CAUTION After deleting the saved values the controller will reboot. To drop all saved objects or a category of saved objects the value 64616F6Ch needs to be written to the object 1011h 2. The following subindeces are related to a category: Sub-index Category 01h All categories (reset to factory default) 02h Communication 03h Application 04h Customer 05h Drive 06h Tuning Thereupon the saved objects will get deleted. The controller will reboot after deleting the values.
Verify Configuration The object 1020h can be used to verify the configuration. It acts like a "modified marker" in most common text editors: As soon a file in the editor gets modified, a marker (normally an asterisk) will be added. The subentries of the object 1020h can get set to a value but will get reset to "0" as soon any object in the object dictionary change it's value (except the save operation). The following order will make verifying possible: An external tool or bus master configurers the controller. The tool or master sets the value 1020h. The tool or master activates saving of all objects 1010h:01 = 65766173h. The date / time in the object 1020h will get saved as well. After a restart of the controller, the master can check the value in 1020h:01h. In case, the value is "0", the object dictionary was modified after loading the saved values. The
