With this object the default values of parameters according to the communication profile, device profile, and application profile are restored.
By read access the CANopen device shall provide information about its capabilities to restore these values. Several parameter groups are distinguished:
In order to avoid the restoring of default parameters by mistake, restoring shall be only executed when a specific signature is written to the appropriate sub-index. The signature that shall be written is "load":
On reception of the correct signature in the appropriate sub-index the CANopen device shall restore the default parameters and then it shall confirm the SDO transmission (SDO download initiate response). If the restoring 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 restore the defaults and shall respond with the SDO abort transfer service (abort code: 0800 002xh).
The default values shall be set valid after the CANopen device is reset (NMT service reset node for sub-index from 01h to 7Fh, NMT service reset communication for sub-index 02h) or power cycled.
On read access to the appropriate sub-index the CANopen device shall provide information about its default parameter restoring capability with the following format:
|CANopen device does not restore default parameters
CANopen device restores parameters
|Name||Index:Sub||Type||Bit Size||Min Data||Max Data||Default Data||Unit||Access||PDO Mapping|
|restore all default parameters||0x1011:1||UDINT||32||0||readwrite|