0x2C05 - Macro access

Index	Sub Index	Name	Data Type	Acc.	Pdo Map.	NVM	Value range	Default value
0x2C05	0x01	Macro number	UINT8	RW	No	No	UINT8	-
0x2C05	0x02	Macro command	UINT8	RW	No	No	UINT8	-
0x2C05	0x03	Command	UINT64	RW	No	No	UINT64	-
0x2C05	0x04	Unprotected access	UINT8	RW	No	No	UINT8	-

This object provides the necessary interface from saving or recovering macros into the NVM.

For normal applications Macro access is controlled by software tools like Composer that will save the macros in NVM. The Macro access object is needed for advanced users only.

The emcl allows for the creation of 64 macros of 128 commands or instruction each.

To write a command into the NVM, first the macro number (SubIndex 0x01) and macro command (SubIndex 0x02) must be fixed. Then if a valid command is written into the Subndex 0x03, it will be saved automatically into the NVM

Data description:

The format of this command is the show below (in bytes format):

Byte number:

7

6

5

4

3

2

1

0

SubIndex

(8bits)

Index

(16bits)

Length

(4bits)

Reserved

(3bits)

R/W

(1bit)

Data

(32bits)

Where:

SubIndex and Index represents the object to be saved or read.

R/W (bit 0 of byte 4): Represents if is a reading (indicated by a 1) or writing (indicated by a 0) process. Reading process works only in RS232 based communications.

Length (bits 7 to 4 of byte 4): Indicates the length of the register data (in bytes).

Data: Represents the data to write in the target register (only useful in writing processes). Most significant byte first.

A read of this object will return 0xFFFFFFF1FFFFFFFF if the end of the macro is reached.

The unprotected access (SubIndex 0x04) activates or deactivates the macro reading protection. To activate the protection a value of 0 must be written to this command. Once the protection is activated, a reading attempt will always generate an EMCY with a “Parameter error” error code (0xFF22). Please, notice that unprotected access bit is automatically saved to avoid losing protection on FW updates or restore to default processes. To deactivate the protection a value different than 0 must be written to this command. It is only allowed to deactivate the protection if all macros are previously reset, all attempts to disable this protection with some macro content in the controller will be discarded.