Elmo DSP 402 manual Common Entries, 5.1Drive Error, Object 0x6007 Abort connection option code

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

12

5:Common Entries

5.1Drive 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	Motor is off (MO=0), but no failure indication
	command	is set (MF=0).
	“Disable_voltage”
3	Device control	ST command is executed. Its action depends
	command “Quick_stop”	on unit mode (UM).