Delta CMM-EC02 - OD 6000 H Communication Object Group

A.3.3 OD 6000h Communication Object Group
Object 6007h：Abort connection option code
Index
6007h
Name
Abort connection option code
Object Type
Variable
Data Type
INTEGER16
Read-Write Permission
RW
PDO MAPPING
SETTING
No
Setting Range
0: No function
2: Switch on Disable
3: Quick Stop
Factory Setting
2
 When object 6007h = 0, CANopen ignores a disconnection fault, no warning and do nothing.
 When object 6007h =2, CANopen turns to Switch on Disable and displays ECto. CANopen then
follows the setting at object 605Ah to trigger parking. When reconnection is successful, the warning
code disappears.
 When object 6007h = 3, CANopen turns to Quick Stop and displays ECto. CANopen then follows
the set=ting at object 605Ch to trigger parking. When reconnection is successful, the warning code
clears.
Object 603Fh：Error code
Index
603Fh
Name
Error code
Object Type
Variable
Data Type
UNSIGNED16
Read-Write Permission
RO
PDO MAPPING
SETTING
Yes
Setting Range
UNSIGNED32
Factory Setting
0
Object 6040h：Controlword
Index
6040h
Name
Controlword
Object Type
Variable
Data Type
UNSIGNED16
Read-Write Permission
RW
PDO MAPPING
SETTING
Yes
Setting Range
UNSIGNED16
Factory Setting
0
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