6007h Abort Connection Option Code
Function
If an error (watchdog, heartbeat, etc.) occurs on the bus, the controller automatically switches to the SAFEOPERATIONAL state. With this object, you can set the reaction.
Object description
| Index | 6007h |
| Object name | Abort Connection Option Code |
| Object Code | VARIABLE |
| Data type | INTEGER16 |
| Savable | yes, category: application |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | FFFFh |
| Firmware version | FIR-v2013-B726332 |
| Change history |
Description
You can set the following reactions:
| Value | Reaction |
|---|---|
| -1 | The controller (slave) sets all input values (RX-PDO) to the value "0". This also sets the object 6040h (controlword) to "0", which causes the motor to coast to a stop. |
| 0 | no reaction |
| 1 | Fault: The action stored in object 605Eh is executed. |
| 2 | Disable voltage: Transition to the Switched on disabled state without halt motion reaction (the motor coasts to a stop) |
| 3 | Quick stop: The action stored in object 605Ah is executed. |