CPB CANopen Technical Manual

6007h Abort Connection Option Code


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 0001h
Firmware version FIR-v2013-B726332
Change history


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.
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