Applied Motion ST10-C-CE - Manual (Page 25)

25 920-0025 Rev K
3/5/2015
CANopen User Manual
Name of the software version as string.
0x1010 Store parameters
This object supports the saving of parameters in non-volatile memory.
1. Sub-Index 0 contains the largest Sub-Index that is supported.
2. Sub-Index 1 refers to all parameters that can be stored on the device.
3. Sub-Index 2 refers to communication related parameters (Index 1000h - 1FFFh
manufacturer specific communication parameters).
4. Sub-Index 3 refers to application related parameters (Index 6000h - 9FFFh
manufacturer specific application parameters).
5. At Sub-Index 4 - 127: manufacturers may store their choice of parameters individually.
6. Sub-Index 128 - 254 are reserved for future use.
In order to avoid storage of parameters by mistake, storage is only executed when a
specific signature is written to the appropriate Sub-Index. The signature is “save”.
Signature
ISO 8859
(“ASCII“)
hex
MSB LSB
e v a s
65h 76h 61h 73h
Object Type Sub Number Data Type Access Type
PDO
Mapping
COS Default value
Array 2 UNSIGNED32 rw no no 0
Subindex Name Default value
00 max sub-index 1
01 save all parameters 0
Writing value 0x65766173 (‘s’,’a’,’v’,’e’ from LSB to MSB) into this location stores all Manu-
facturer specific parameters into the EEPROM.
Here list the parameters which can be stored:
0x5000 positionGain_Tuning;
0x5001 positionDeriGain_Tuning;
0x5002 positionDeriFilter_Tuning;
0x5003 velocityGain_Tuning;
0x5004 velocityIntegGain_Tuning;
0x5005 accFeedForward_Tuning;
0x5006 PIDFilter_Tuning;
0x5007 notchFilterA_Tuning;
0x5008 notchFilterB_Tuning;
0x5009 notchFilterC_Tuning;
0x500A notchFilterD_Tuning;