Od 6000H Communication Object Group - Delta CMC-EC01 Operation Manual

A.3.3 OD 6000h Communication Object Group
Object 6007h: Abort connection option code
Index
Name
Object Type
Data Type
Read/Write Permission
PDO Mapping Setting
Setting Range
Default
Object 6007h=0: Disconnection error will be ignored, and no warning is displayed or no action is taken.

Object 6007h=2: When disconnection occurs, CANopen state will be switched to Switch on Disabled,

warning code ECto is displayed, and the drive stops according to the settings of object 605Ah. Once the
connection cable is back to normal, the warning code will be automatically cleared.
Object 6007h=3: When disconnection occurs, CANopen state will be switched to Quick Stop, warning

code ECto is displayed, and the drive stops according to the settings of object 605Ch. Once the
connection cable is back to normal and communication is successfully connected, the warning code will be
automatically cleared.
Object 603Fh: Error code
Index
Name
Object Type
Data Type
Read/Write Permission
PDO Mapping Setting
Setting Range
Default
Object 6040h: Controlword
Index
Name
Object Type
Data Type
Read/Write Permission
PDO Mapping Setting
Setting Range
Default
CMC-EC01 Operation Manual
80
6007h
Abort connection option code
Variable
INTEGER16
RW
No
0: No action
2: Switch on Disable
3: Quick Stop
2
603Fh
Error code
Variable
UNSIGNED16
RO
Yes
UNSIGNED32
0
6040h
Controlword
Variable
UNSIGNED16
RW
Yes
UNSIGNED16
0
EtherCAT Option Card CMC-EC01