I'd like to write parameters into G120C through SINA_PARA in various cases:
- change of some parameter during machine operational state;
- full commissioning of the drive after exchange of faulty one for new one;

I'd like to have control from HMI through PLC sw, so I can give the operator / technician easy way to do it without fiddling with IOP and/or SD card.

So far so good. However:

- some of the parameters (BICO) can't be written by SINA_PARA; or can be ??? See here:
Writing BICO parameters through SINA_PARA

- some of the parameters cant be written without activation of related mode (BAsic commissioning / Safety commissioning for example);

I've tried to find some related information without significant success. Does anybody know anything related (to writing BICO parameters and to activating modes before writing some of the parameters) ???

The List Manual specifies required access level and drive state for changing parameters.