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:
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
|CANopen device does not save parameters autonomously|
CANopen device saves parameters autonomously
|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.
|Name||Index:Sub||Type||Bit Size||Min Data||Max Data||Default Data||Unit||Access||PDO Mapping|
|save all parameters||0x1010:1||UDINT||32||0||readwrite|