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178 Unidrive M Regen Design Guide
Issue Number: 4
Hardware Enable (06.029) normally shows the hardware enable state based on the state of the safe torque off system. However, drive I/O can be
routed to Hardware Enable (06.029) to reduce the disable time.
Drive Event Flags (06.041) indicates that certain actions have occurred within the drive as described below.
Bit 0: Defaults loaded
The drive sets bit 0 when defaults have been loaded and the associated parameter save has been completed. The drive does not reset this flag
except at power-up.
Bit 1: Drive mode changed
The drive sets bit 1 when the drive mode has changed and the associated parameter save has been completed. The drive does not reset this flag
except at power-up.
If Control Word Enable (06.043) = 0 then Control Word (06.042) has no effect. If Control Word Enable (06.043) = 1 the bits in Control Word (06.042)
are used instead of their corresponding parameters or to initiate drive functions as shown in the table below.
Bits 0-7 and bit 9: Sequencer control
When Auto/manual bit (bit7) = 1 then bit 0 of the Control Word (06.042) becomes active. The equivalent parameters are not modified by these bits,
but become inactive when the equivalent bits in the Control Word (06.042) are active. When the bits are active they replace the functions of the
equivalent parameters.
Bit 8: Analog/1preset reference
The value of this bit has no effect on the drive.
Bit 10 and bit 11: Not used
The values of these bits have no effect on the drive.
Bit 12: Trip drive
If bit 12 = 1 then a Control Word trip is repeatedly initiated. The trip cannot be cleared until bit 12 = 0.
Bit 13: Reset drive
If bit 13 is changed from 0 to 1 a drive reset is initiated. Bit 13 does not modify Drive Reset (10.033).
06.029 Hardware Enable
RO Bit ND NC PT
Off (0) or On (1)
06.041 Drive Event Flags
RW Bin NC
00 to 11
00
Bit Corresponding event
0 Defaults loaded
1 Drive mode changed
06.042 Control Word
RW Bin NC
000000000000000 to 111111111111111
000000000000000
Bit Corresponding parameter or function
0 Drive Enable (06.015)
1 Not used
2 Not used
3 Not used
4 Not used
5 Not used
6 Not used
7 Auto/manual
8 Analog/Preset reference
9 Not used
10 Not used
11 Not used
12 Trip drive
13 Reset drive
14 Watchdog
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