Elmomc CANopen DSP 402 Implementation Guide Manuel d'utilisateur télécharger pdf (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)

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Elmomc CANopen DSP 402 Implementation Guide Manuel d'utilisateur Page 18

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