CoE reset, restoring the default values
The CoE object "Restore default parameters", subindex 001 (if present) can be used to restore the delivery state of the changeable CoE objects in the ELxxxx terminals (see Fig. Selecting the "Restore default parameters" PDO).
All changeable entries in the slave are reset to the default values by writing the reset word to these indices.
- The values can only be successfully restored if the reset is directly applied to the online CoE, i.e. to the slave. No values can be changed in the offline CoE.
- TwinCAT must be in the RUN or CONFIG/Freerun state for this; error-free EtherCAT traffic must take place.
- A changeable object can be manipulated beforehand for the purposes of checking; no separate confirmation takes place.
- This reset procedure can also be adopted as the first entry in the startup list of the slave, e.g. in the state transition PREOP->SAFEOP or, as in Fig. CoE reset as a startup entry, in SAFEOP->OP.
Hence any settings in the slave are reset. - The EtherCAT slave must be at least in the PREOP state for this
- Depending upon firmware and slave, the reset word reads:
- 64616F6C "load"hex (as a rule in the case of FW since approx. 2008) or
- 6C6F6164hex "daol" (in the case of earlier FW versions)
- An incorrect entry for the restore value has no effect.
