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 0001h 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.