ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 18)

5: Common Entries
5.1 Drive Error
The drive functionality in case of an error is determined using the following objects:
6007h: defined according to the
SimplIQ CANopen Implementation Manual.
603Fh: reflects the 16 lower bits of object 0x1003, which, together with this object, get the
emergency value regardless of the emergency message mask in object 2F21h.
Object 0x6007: Abort connection option code
This object details the motor control behavior after a heartbeat failure. It has no effect if
the motor is already off.
Object description:
Index 6007h
Name
Abort connection option code
Object code VAR
Data type INTEGER16
Category Optional
Entry description:
Access Read/Write
PDO mapping
No
Value range -32,768…32,767
Default value 0
Data description:
(Command details are found in SimplIQ Command Reference Manual.)
Option
Code
Meaning
Details
0 No action
1 Malfunction Motor is off (MO=0) and motor failure code is
0x800. The failure is reported and possibly
activates an AUTOERR routine similar to
other failures (MF command).
2 Device control
command
“Disable_voltage”
Motor is off (MO=0), but no failure indication
is set (MF=0).
3 Device control
command “Quick_stop”
ST command is executed. Its action depends
on unit mode (UM).
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
12