# Upload and Download

This chapter explains how to use the Upload and Download window to upload parameter backups, download parameter files, save parameters to Flash, and reset parameters. Writing parameters directly affects drive behavior. Before proceeding, verify the current connection ID, target device, and site safety conditions.

## Before You Begin

Item | What to Check
--- | ---
Connection status | The main window is connected to the target drive, and the current connection ID matches the physical device.
Device state | Before writing, saving, or restoring factory parameters, make sure the motor has stopped and parameter changes cannot cause hazardous mechanical motion. Some parameters cannot be changed while the drive is enabled; disable the drive first when required.
Parameter file | When downloading parameters, use only a `.dlg` parameter file exported by eTuner. Do not substitute another file type or a manually edited file.
Power and communication | Keep drive power and communication stable while saving to Flash, downloading parameters, or restoring factory parameters.

Do not switch connections, change the device ID, connect or disconnect communication cables, or close eTuner during a parameter operation. Do not allow eTuner and an EtherCAT, CANopen, or RS485 master to modify parameters on the same device at the same time. If multiple drives are present, verify the current connection ID again before proceeding.

## Operation Overview

Operation | Access | Purpose | Risk
--- | --- | --- | ---
Drive Load | Parameter → Drive Load | Reads parameters from the drive and saves them as a `.dlg` backup file on the computer. | Does not write to the drive; confirm that the backup comes from the target device.
Drive Save | Parameter → Browse → Drive Save | Selects a `.dlg` file and writes its parameters to the current drive. | Writes to the drive and saves to Flash after completion.
Save | Main window → Save | Stores modified parameters persistently in the drive's Flash memory. | Saving takes about 3 seconds. Power loss, communication loss, or other commands during this time may result in an incomplete save.
Reset | Parameter → Reset | Writes the factory-restore parameters supported by the current firmware. | This is a high-risk operation. Power-cycle and reconnect the device afterward, then confirm that the change took effect.

The Upload and Download window provides Drive Load, Browse, Drive Save, and Reset.

## Upload a Parameter Backup

1. Connect to the target drive and confirm that the current connection ID in the main window is correct.
2. Click Parameter to open the Upload and Download window.
3. Under Driver Parameter UploadTo PC:, click Drive Load.
4. Select a location for the backup and use the `.dlg` file extension.
5. If the file already exists, confirm whether to overwrite it. Wait for the upload to finish before closing the window.

`.dlg` parameter files are generated and processed by eTuner; they are not plain text files intended for manual editing. For traceability, include the device model, CAN ID, and date in the backup file name, for example `Model_CAN01_20260625.dlg`.

## Download a Parameter File

1. Confirm that the target drive is connected and that its model, firmware, and current connection ID match the source of the parameter file.
2. Click Parameter to open Upload and Download.
3. Under Download parameters to the drive:, click Browse and select a `.dlg` parameter file exported by eTuner.
4. Click Drive Save.
5. Wait for the download to finish. Do not interrupt power or communication or switch the target device.
6. After the download, return to the main window and confirm normal status before continuing commissioning.

High-risk operation: Downloading parameters writes them to the drive one by one. The current version saves them to Flash after the download. Follow the software prompts, and do not interrupt power or communication or switch the target device before the process finishes.

## Parameters Supported for Upload and Download

Parameter upload and download do not provide a complete parameter backup. When using a `.dlg` file exported by eTuner for backup or restoration, only the following parameters are supported:

Parameter
Position loop gain
Speed loop gain
Speed loop integral
Speed excitation
Excitation displacement
Excitation frequency
Speed filter 1 enable, type, frequency, and damping ratio
Speed filter 2 enable, type, frequency, and damping ratio
Position filter 1 enable, type, frequency, and damping ratio

Some upload modes also include encoder resolution. This is an auxiliary value used with the PID window, not a regular adjustable item in the PID Adjust window.

To reduce the risk of incorrect operation, upload and download are limited to verified, commonly used commissioning parameters. Other user-modified parameters may cause abnormal device response, disable protection functions, or create site safety risks, so they are excluded from the normal upload and download scope.

## Save to Flash

After changing parameters, first click Apply at the bottom of the current settings window, then click Save in the main window to write the applied parameters to the drive's Flash memory. Saving takes about 3 seconds. Do not power off, reconnect, or proceed until the success message appears.

Scenario | Recommended Action
--- | ---
Parameter changes must persist | Confirm that the parameter settings are correct, click Apply in the current window, then click Save in the main window.
Downloading a `.dlg` parameter file | After the download, follow the prompts to confirm the save result. Do not power off before the save succeeds.
After restoring factory parameters | Power-cycle and reconnect as prompted. After confirming that the parameters took effect, click Save in the main window.

The servo does not receive or respond to new commands while saving. Until about 3 seconds have elapsed and the save is confirmed, do not interrupt power or communication, switch connections, change the device ID, or perform another operation. If saving fails or a Flash-related error occurs, stop writing and record the error information.

Do not save at these times: Never issue a save command while the device is initializing at power-up or while it is moving. Saving during initialization may leave some configuration incomplete; saving during motion may prevent commands from being received or processed.

## Communication and Parameter Modification Restrictions

- A CANopen joint must not be connected to both a CANopen master controller and eTuner at the same time. Simultaneous communication from two masters may cause data errors, abnormal or lost parameters, or unintended motion.
- When modifying parameters with eTuner, do not simultaneously modify them over EtherCAT, CANopen, or RS485. Otherwise, the actual device values may differ from the intended values.
- Before opening eTuner, close eRunner, CAN_Update_Tool, other eTuner instances, and other CAN analysis software.
- Some parameters can be changed only while the drive is disabled. If the interface reports that a parameter cannot be changed, stop motion, disable the drive, and follow the project procedure.

## Reset Parameters

1. Confirm that the mechanism is safe, the motor has stopped, and factory restoration is permitted at the site.
2. Click Parameter and check whether Reset is available in the Upload and Download window.
3. Click Reset and wait for the process to finish as prompted.
4. Power-cycle and reconnect the device as prompted.
5. After reconnecting, confirm that the parameters took effect, then click Save in the main window.

High-risk operation: Restoring factory parameters changes drive parameters and is available only when supported by the current firmware and mode. Do not mix factory parameter restoration with terminal resets, other recovery methods, or delivery parameter writing.

## Parameter Files and Troubleshooting

Symptom | Recommended Action
--- | ---
Empty parameter file message | Confirm that the selected file is a parameter `.dlg` file exported by eTuner and that it is not damaged or incorrectly overwritten.
Invalid information in parameter file | Do not edit a `.dlg` file manually. Upload a new backup from a verified working drive, or use the correct parameter file delivered with the project.
A `.dlg` file cannot be downloaded | Confirm the file's purpose. Recorder signal lists may also use the `.dlg` extension, but they are not parameter download files.
Communication error during download or save | Check the power supply, USBCAN adapter, cables, target ID, and whether the connection was switched. Once communication is stable, determine whether the parameter operation must be repeated.
Save failure or Flash error | Record the error code and site state, and stop repeated save attempts. Follow the project procedure to investigate Flash unlock, erase, write, capacity, verification, or data-load errors.
Factory parameters did not take effect | Power-cycle and reconnect as prompted, then confirm whether the parameters took effect. Do not repeatedly restore or save before verification.