0x1010

0x1010:0 Store parameters

This object shall control the saving of parameters in non-volatile memory.

By read access the CANopen device shall provide information about its saving capabilities. Several parameter groups are distinguished:

  • Sub-index 00h contains the highest sub-index that is supported.
  • Sub-index 01h refers to all parameters that may be stored on the CANopen device.
  • Sub-index 02h refers to communication related parameters (index from 1000h to 1FFFh).
  • Sub-index 03h refers to application related parameters (index from 6000h to 9FFFh).
  • Sub-index from 04h to 7Fh manufacturers may store their choice of parameters individually.
  • Sub-index from 80h to FEh are reserved for future use.

In order to avoid storage of parameters by mistake, storage shall be only executed when a specific signature is written to the appropriate sub-index. The signature that shall be written is "save":

Figure 55: Storage write access signature

On reception of the correct signature in the appropriate sub-index the CANopen device shall store the parameter and then it shall confirm the SDO transmission (SDO download initiate response). If the storing failed, the CANopen device shall respond with the SDO abort transfer service (abort code: 0606 0000h).

If a wrong signature is written, the CANopen device shall refuse to store and it shall respond with the SDO abort transfer service (abort code: 0800 002xh).

On read access to the appropriate sub-index the CANopen device shall provide information about its storage functionality with the following format:

Figure 56: Storage read access structure

Structure of read access
BitValueDescription
auto0b
1b
CANopen device does not save parameters autonomously
CANopen device saves parameters autonomously
cmd0b
1b
CANopen device does not save parameters on command
CANopen device saves parameters on command

Autonomous saving means that a CANopen device stores the storable parameters in a non-volatile manner without user request.

Object Type OBJECT_TYPE_ARRAY
Index 0x1010
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x1010:1 save all parameters

Object Type OBJECT_TYPE_ARRAY
Index 0x1010
SubIndex 1
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping