Saving objects Note: Improper use of the function can result in it no longer being possible to start the controller. Therefore, carefully read the entire chapter before using the function. Note: As an alternative, objects can also be set and saved using the configuration file. Note that this file has higher priority. Objects that are saved both with the mechanism described here as well as in the configuration file take the value of the configuration file. Note: Objects can be permanently saved via configuration file cfg.txt. The save mechanism described in this chapter can, with this controller, only be used with a NanoJ program or with the Plug & Drive Studio software. General Many objects in the object dictionary can be saved and then automatically reloaded the next time the controller is switched on or reset. Furthermore, the saved values are also retained following a firmware update. Only entire collections of objects (referred to in the following as categories) can be saved together; individual objects cannot be saved. An object can be assigned one of the following categories: Communication: Parameters related to external interfaces, such as PDO configuration etc. Application: Parameters related to operating modes. Customer: Parameters that are written and read by the customer/user only and are ignored by the controller firmware. Drive: Parameters related to the motor and the sensors (BLDC/Stepper, closed/open-loop…). Some are set and saved by auto setup. Tuning: Parameters related to motor and encoder that are set either by auto setup or that can be found in the data sheets, e.g., pole pairs and maximum current. Ethernet: Parameters related to Ethernet communication If an object is not assigned one of these categories, it cannot be saved, e.g., statusword and all objects whose value is dependent on the current state of the controller. The objects in each category are listed below. In chapter Description of the CiA 402 object dictionary, the corresponding category for each object is also specified. Category: customer 2701h: Customer Storage Area Category: drive 3202h: Motor Drive Submode Select 320Dh: Torque Of Inertia Factor 6073h: Max Current 6080h: Max Motor Speed Category: tuning 2030h: Pole Pair Count 2031h: Max Motor Current 203Bh: I2t Parameters 3203h: Feedback Selection 3380h: Feedback Sensorless 33A0h: Feedback Incremental A/B/I 1 33A1h: Feedback Incremental A/B/I 2 4021h: Ballast Configuration 6075h: Motor Rated Current 608Fh: Position Encoder Resolution 6090h: Velocity Encoder Resolution 60E6h: Additional Position Encoder Resolution - Encoder Increments 60EBh: Additional Position Encoder Resolution - Motor Revolutions Category: Ethernet 2010h: IP-Configuration 2011h: Static-IPv4-Address 2012h: Static-IPv4-Subnet-Mask 2013h: Static-IPv4-Gateway-Address 2017h: LLDP Non-volatile Storage Starting the save process image/svg+xml CAUTION image/svg+xml Uncontrolled motor movements! Control may be affected while saving. Unforeseen reactions can result. ► The motor must be at a standstill before starting the saving process. The motor must not be started while saving. Note: Saving may take a few seconds. Never interrupt the power supply while saving. The state of the saved objects is otherwise undefined. Always wait until the controller has signaled that the save process has been successfully completed with the value "1" in the corresponding subindex in object 1010h. There is a subindex in object 1010h for each category. To save all objects of this category, the value "65766173h" must be written in the subindex. 1 The controller signals the end of the save process by overwriting the value with a "1". Tip: Alternatively, you can write the category number in the PROFIdrive parameter 971 Transfer Into A Nonvolatile Memory. The following table shows which subindex of object 1010h is responsible for which category. Subindex Category 01h All categories with the exception of 0Ch (Ethernet) 02h Communication 03h Application 04h Customer 05h Drive 06h Tuning 0Ch Ethernet Discarding the saved data If all objects or one category of saved objects is to be deleted, value "64616F6Ch" must be written in object 1011h. 2 Tip: Alternatively, you can write the category number in the PROFIdrive parameter 970 Load Parameter Set. The following subindices correspond to a category here: Subindex Category 01h All categories (reset to factory settings) with the exception of 06h (Tuning) and 0Ch (Ethernet) 02h Communication 03h Application 04h Customer 05h Drive 06h Tuning 0Ch Ethernet The saved objects are subsequently discarded; the change does not take effect until after the controller is restarted. You can restart the controller by entering the value "746F6F62h" in 2800h:01h. Note: Objects of category 06h (Tuning) are determined by Auto setup and are not reset when resetting to factory settings with subindex 01h (thereby making it unnecessary to again perform an auto setup). You can reset these objects with subindex 06h. Objects of category 0Ch (Ethernet) are not reset with subindex 01h. Verifying the configuration Object 1020h can be used to verify the configuration. It acts as a modification marker similar to common text editors: as soon as a file is modified in the editor, a marker (usually an asterisk) is added. The entries of object 1020h can be written with a date and time and then saved together with all other savable objects with 1010h:01. The entries of 1020h are reset to "0" as soon as a savable object (including 1010h:0xh, except for 1010h:01h and 1020h) is written. The following sequence makes verification possible: An external tool or master configures the controller. The tool or master sets the value in object 1020h. The tool or master activates the saving of all objects 1010h:01h = 65766173h. The date and time in object 1020h are also saved. After the controller is restarted, the master can check the value in 1020h:01h and 1020:01h. If one of the values is "0", the object dictionary was changed after the saved values were loaded. If the date or time in 1020 does not correspond to the expected value, objects were probably saved with values other than those that were expected. 1 This corresponds to the decimal of 1702257011d or the ASCII string save.2 This corresponds to the decimal of 1684107116d or the ASCII string load.
Saving objects Note: Improper use of the function can result in it no longer being possible to start the controller. Therefore, carefully read the entire chapter before using the function. Note: As an alternative, objects can also be set and saved using the configuration file. Note that this file has higher priority. Objects that are saved both with the mechanism described here as well as in the configuration file take the value of the configuration file. Note: Objects can be permanently saved via configuration file cfg.txt. The save mechanism described in this chapter can, with this controller, only be used with a NanoJ program or with the Plug & Drive Studio software. General Many objects in the object dictionary can be saved and then automatically reloaded the next time the controller is switched on or reset. Furthermore, the saved values are also retained following a firmware update. Only entire collections of objects (referred to in the following as categories) can be saved together; individual objects cannot be saved. An object can be assigned one of the following categories: Communication: Parameters related to external interfaces, such as PDO configuration etc. Application: Parameters related to operating modes. Customer: Parameters that are written and read by the customer/user only and are ignored by the controller firmware. Drive: Parameters related to the motor and the sensors (BLDC/Stepper, closed/open-loop…). Some are set and saved by auto setup. Tuning: Parameters related to motor and encoder that are set either by auto setup or that can be found in the data sheets, e.g., pole pairs and maximum current. Ethernet: Parameters related to Ethernet communication If an object is not assigned one of these categories, it cannot be saved, e.g., statusword and all objects whose value is dependent on the current state of the controller. The objects in each category are listed below. In chapter Description of the CiA 402 object dictionary, the corresponding category for each object is also specified. Category: customer 2701h: Customer Storage Area Category: drive 3202h: Motor Drive Submode Select 320Dh: Torque Of Inertia Factor 6073h: Max Current 6080h: Max Motor Speed Category: tuning 2030h: Pole Pair Count 2031h: Max Motor Current 203Bh: I2t Parameters 3203h: Feedback Selection 3380h: Feedback Sensorless 33A0h: Feedback Incremental A/B/I 1 33A1h: Feedback Incremental A/B/I 2 4021h: Ballast Configuration 6075h: Motor Rated Current 608Fh: Position Encoder Resolution 6090h: Velocity Encoder Resolution 60E6h: Additional Position Encoder Resolution - Encoder Increments 60EBh: Additional Position Encoder Resolution - Motor Revolutions Category: Ethernet 2010h: IP-Configuration 2011h: Static-IPv4-Address 2012h: Static-IPv4-Subnet-Mask 2013h: Static-IPv4-Gateway-Address 2017h: LLDP Non-volatile Storage Starting the save process image/svg+xml CAUTION image/svg+xml Uncontrolled motor movements! Control may be affected while saving. Unforeseen reactions can result. ► The motor must be at a standstill before starting the saving process. The motor must not be started while saving. Note: Saving may take a few seconds. Never interrupt the power supply while saving. The state of the saved objects is otherwise undefined. Always wait until the controller has signaled that the save process has been successfully completed with the value "1" in the corresponding subindex in object 1010h. There is a subindex in object 1010h for each category. To save all objects of this category, the value "65766173h" must be written in the subindex. 1 The controller signals the end of the save process by overwriting the value with a "1". Tip: Alternatively, you can write the category number in the PROFIdrive parameter 971 Transfer Into A Nonvolatile Memory. The following table shows which subindex of object 1010h is responsible for which category. Subindex Category 01h All categories with the exception of 0Ch (Ethernet) 02h Communication 03h Application 04h Customer 05h Drive 06h Tuning 0Ch Ethernet Discarding the saved data If all objects or one category of saved objects is to be deleted, value "64616F6Ch" must be written in object 1011h. 2 Tip: Alternatively, you can write the category number in the PROFIdrive parameter 970 Load Parameter Set. The following subindices correspond to a category here: Subindex Category 01h All categories (reset to factory settings) with the exception of 06h (Tuning) and 0Ch (Ethernet) 02h Communication 03h Application 04h Customer 05h Drive 06h Tuning 0Ch Ethernet The saved objects are subsequently discarded; the change does not take effect until after the controller is restarted. You can restart the controller by entering the value "746F6F62h" in 2800h:01h. Note: Objects of category 06h (Tuning) are determined by Auto setup and are not reset when resetting to factory settings with subindex 01h (thereby making it unnecessary to again perform an auto setup). You can reset these objects with subindex 06h. Objects of category 0Ch (Ethernet) are not reset with subindex 01h. Verifying the configuration Object 1020h can be used to verify the configuration. It acts as a modification marker similar to common text editors: as soon as a file is modified in the editor, a marker (usually an asterisk) is added. The entries of object 1020h can be written with a date and time and then saved together with all other savable objects with 1010h:01. The entries of 1020h are reset to "0" as soon as a savable object (including 1010h:0xh, except for 1010h:01h and 1020h) is written. The following sequence makes verification possible: An external tool or master configures the controller. The tool or master sets the value in object 1020h. The tool or master activates the saving of all objects 1010h:01h = 65766173h. The date and time in object 1020h are also saved. After the controller is restarted, the master can check the value in 1020h:01h and 1020:01h. If one of the values is "0", the object dictionary was changed after the saved values were loaded. If the date or time in 1020 does not correspond to the expected value, objects were probably saved with values other than those that were expected.
General Many objects in the object dictionary can be saved and then automatically reloaded the next time the controller is switched on or reset. Furthermore, the saved values are also retained following a firmware update. Only entire collections of objects (referred to in the following as categories) can be saved together; individual objects cannot be saved. An object can be assigned one of the following categories: Communication: Parameters related to external interfaces, such as PDO configuration etc. Application: Parameters related to operating modes. Customer: Parameters that are written and read by the customer/user only and are ignored by the controller firmware. Drive: Parameters related to the motor and the sensors (BLDC/Stepper, closed/open-loop…). Some are set and saved by auto setup. Tuning: Parameters related to motor and encoder that are set either by auto setup or that can be found in the data sheets, e.g., pole pairs and maximum current. Ethernet: Parameters related to Ethernet communication If an object is not assigned one of these categories, it cannot be saved, e.g., statusword and all objects whose value is dependent on the current state of the controller. The objects in each category are listed below. In chapter Description of the CiA 402 object dictionary, the corresponding category for each object is also specified.
Category: drive 3202h: Motor Drive Submode Select 320Dh: Torque Of Inertia Factor 6073h: Max Current 6080h: Max Motor Speed
Category: tuning 2030h: Pole Pair Count 2031h: Max Motor Current 203Bh: I2t Parameters 3203h: Feedback Selection 3380h: Feedback Sensorless 33A0h: Feedback Incremental A/B/I 1 33A1h: Feedback Incremental A/B/I 2 4021h: Ballast Configuration 6075h: Motor Rated Current 608Fh: Position Encoder Resolution 6090h: Velocity Encoder Resolution 60E6h: Additional Position Encoder Resolution - Encoder Increments 60EBh: Additional Position Encoder Resolution - Motor Revolutions
Category: Ethernet 2010h: IP-Configuration 2011h: Static-IPv4-Address 2012h: Static-IPv4-Subnet-Mask 2013h: Static-IPv4-Gateway-Address 2017h: LLDP Non-volatile Storage
Starting the save process image/svg+xml CAUTION image/svg+xml Uncontrolled motor movements! Control may be affected while saving. Unforeseen reactions can result. ► The motor must be at a standstill before starting the saving process. The motor must not be started while saving. Note: Saving may take a few seconds. Never interrupt the power supply while saving. The state of the saved objects is otherwise undefined. Always wait until the controller has signaled that the save process has been successfully completed with the value "1" in the corresponding subindex in object 1010h. There is a subindex in object 1010h for each category. To save all objects of this category, the value "65766173h" must be written in the subindex. 1 The controller signals the end of the save process by overwriting the value with a "1". Tip: Alternatively, you can write the category number in the PROFIdrive parameter 971 Transfer Into A Nonvolatile Memory. The following table shows which subindex of object 1010h is responsible for which category. Subindex Category 01h All categories with the exception of 0Ch (Ethernet) 02h Communication 03h Application 04h Customer 05h Drive 06h Tuning 0Ch Ethernet
Discarding the saved data If all objects or one category of saved objects is to be deleted, value "64616F6Ch" must be written in object 1011h. 2 Tip: Alternatively, you can write the category number in the PROFIdrive parameter 970 Load Parameter Set. The following subindices correspond to a category here: Subindex Category 01h All categories (reset to factory settings) with the exception of 06h (Tuning) and 0Ch (Ethernet) 02h Communication 03h Application 04h Customer 05h Drive 06h Tuning 0Ch Ethernet The saved objects are subsequently discarded; the change does not take effect until after the controller is restarted. You can restart the controller by entering the value "746F6F62h" in 2800h:01h. Note: Objects of category 06h (Tuning) are determined by Auto setup and are not reset when resetting to factory settings with subindex 01h (thereby making it unnecessary to again perform an auto setup). You can reset these objects with subindex 06h. Objects of category 0Ch (Ethernet) are not reset with subindex 01h.
Verifying the configuration Object 1020h can be used to verify the configuration. It acts as a modification marker similar to common text editors: as soon as a file is modified in the editor, a marker (usually an asterisk) is added. The entries of object 1020h can be written with a date and time and then saved together with all other savable objects with 1010h:01. The entries of 1020h are reset to "0" as soon as a savable object (including 1010h:0xh, except for 1010h:01h and 1020h) is written. The following sequence makes verification possible: An external tool or master configures the controller. The tool or master sets the value in object 1020h. The tool or master activates the saving of all objects 1010h:01h = 65766173h. The date and time in object 1020h are also saved. After the controller is restarted, the master can check the value in 1020h:01h and 1020:01h. If one of the values is "0", the object dictionary was changed after the saved values were loaded. If the date or time in 1020 does not correspond to the expected value, objects were probably saved with values other than those that were expected.
