Elmo DSP 402 User Manual
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
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.
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
Name
Abort connection option code
Object code
VAR
Data type
INTEGER16
Category Optional
Entry description:
Access Read/Write
PDO mapping
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
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).
0x800. The failure is reported and possibly
activates an AUTOERR routine similar to
other failures (MF command).
2 Device
control
command
“Disable_voltage”
“Disable_voltage”
Motor is off (MO=0), but no failure indication
is set (MF=0).
is set (MF=0).
3 Device
control
command “Quick_stop”
ST command is executed. Its action depends
on unit mode (UM).
on unit mode (UM).
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
12