Saving and restoring configurations

Overview

This function allows saving and restoring the default configuration or restoring the factory configuration of the drive. The configuration files require a password to avoid accidental changes.

Note

Saving factory defaults is not possible via firmware command. This must be performed offline. In case needed please contact support@synapticon.com for details.

The default values are loaded at startup, first the factory defaults (.factory_config), then the user configuration (config.csv).

  • .factory_config contains the original configuration when the drive was shipped.

  • config.csv is updated every time the “save to device” button is pressed or the parameters are saved by object 0x1010:1. This stores all parameters at once.

Use case

Restoring configurations can be used for example for testing parameters without saving and safely going back to the last stable value. Saving the config.csv file can be used

  • as a backup

  • for comparing different configurations

  • for transferring the configuration to another drive.

The format for factory and user configuration files is CSV, so that it can be modified easily by text editor or spreadsheet. Lines of the config.csv file can simply be copied over into the factory defaults file without modification. The .factory_config file is protected and can not be changed or deleted by regular file operations

Attention

The config.csv contains motor-individual parameters like the commutation offset or cogging compensation. Moving the config.csv from one drive to the other may require adjusting some parameters individually.

Attention

The values loaded into the object dictionary are not checked for validity. Ensure that the values are correct when the parameters are set manually, otherwise malfunctions or erratic behavior might be caused that could lead to serious accidents.

When the drive first starts, it locates the .factory_config file and loads it into the object dictionary. If it does not exist, this step is skipped. Secondly, it locates the config.csv and loads the parameters into the object dictionary.

If the config.csv file doesn’t exist, the drive will be configured as defined by the .factory_config.

Usage

Danger

The drive must be disabled, so that the operation can be carried out safely.

Restore configuration

To restore parameter values from either file into the object dictionary, object 0x1011 (Restore default parameters) has to be triggered. Two subindexes are relevant:

  1. Restore all (user) default parameters at subindex 1

  2. Restore manufacturer (factory) default parameters at subindex 4

To avoid accidentally restoring the default parameters, restoring is only executed when a password is written to subitem 0x1011:1: 0x64616f6c (daol in Hexcode)

MSB

LSB

d

a

o

l

64h

61h

6Fh

6Ch

Note

All parameters that are not stored will be discarded on power off since all parameters are restored automatically at startup.

Note

It takes several milliseconds to restore the configuration file.

Save configuration

User defaults - config.csv

To save the state of the object dictionary for loading later, use object Store parameters 0x1010 subitem 1 (Save all parameters).

To protect the file against accidental tampering, a password must be written to the subitem 0x1010:1: 0x65766173 (evas in Hexcode)

MSB

LSB

e

v

a

s

65h

76h

61h

73h

After this operation all configuration state parameters are saved to the config.csv file located in the flash memory. It can be recovered via the filesystem using any communication protocol that supports file operations. For details, please refer to Drive operations through File Access over EtherCAT (FoE).

It’s also possible to save the configuration file in OBLAC Drives when clicking on the button “Save parameters”.

Note

It takes about 3 seconds to save the configuration file.

Limitations

  • The drive must be disabled for saving or restoring parameters.

  • This feature is supported in all modes of operation.