Index Related To Disconnections - Delta CMC-EC01 Operation Manual

The system architecture is as shown below：
Therefore, when the state machine is in the Operation state, the speed mode control
word (bits 4~6 and 8) is defined as follows:

5.4 Index Related to Disconnections:

When EtherCAT is disconnected, the C2000 will switch states according to Index
6007.
 When 0 is selected for 6007, disconnection errors will be ignored, which means
that no warnings will be issued and nothing will be done.
 When 1 is selected for 6007 and there is a disconnection, the CANopen state will
change to the Error State and the warning code ECto will be displayed. Once the
communications connection is confirmed to be re-established and Bit 7 of 6040
changes from 0 to 1, the error code will be cleared and the state machine will enter
the "Switch on Disable" state.
 When 2 is selected for 6007 and a disconnection occurs, the CANopen state will
change to "Switch On Disable," ECto will be displayed, and the stop operation will
be triggered according to the index 605A settings. When the cable is re-connected
and communications are successfully restored, the error code will be automatically
cleared.
 When 3 is selected for 6007 and a disconnection occurs, the CANopen state will
change to "Switch On Disable," ECto will be displayed, and the stop operation will
be triggered according to the index 605C settings. When the cable is re-connected
and communications are successfully restored, the error code will be automatically
cleared.
CMC-EC01 Operation Manual
EtherCAT Communication Card: CMC-EC01
11