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30 MDrivePlus CANopen R020507
Bit 4: Voltage Enabled
The Disable Voltage request is active when the voltage_disabled bit is cleared to 0.
Bit 5: Quick Stop Active
When reset, this bit indicates that the drive is reacting on a quick stop request. Bits 0, 1 and 2 of the statusword must
be set to 1 to indicate that the drive is capable to regenerate. The setting of the other bits indicates the status of the drive
(e.g. the drive is performing a quick stop as result of a reaction to a non-fatal fault. The fault bit is set as well as bits 0, 1
and 2).
Bit 7: Warning
A drive warning is present if bit 7 is set. The cause means no error but a state that has to be mentioned, e.g. temperature
limit, job refused. The status of the drive does not change. The cause of this warning may be found by reading the fault
code parameter. The bit is set and reset by the device.
Bit 8: Manufacturer Specific
This bit may be used by a drive manufacturer to implement any manufacturer specific functionality.
Bit 9: Remote
If bit 9 is set, then parameters may be modified via the CAN-network, and the drive executes the content of a command
message. If the bit remote is reset, then the drive is in local mode and will not execute the command message. The drive
may transmit messages containing valid actual values like a position_actual_value, depending on the actual drive
configuration. The drive will accept accesses via service data objects (SDOs) in local mode.
Bit 10: Target Reached
If bit 10 is set by the drive, then a setpoint has been reached (torque, speed or position depending on the modes_of_op-
eration). The change of a target value by software alters this bit. If quickstop_option_code is 5, 6, 7 or 8, this bit must be
set, when the quick stop operation is finished and the drive is halted. If Halt occured and the drive has halted then this
bit is set too.
Bit 11: Internal Limit Active
This bit set by the drive indicates, that an internal limitation is active (e.g. position_range_limit).
Bits 12-13: Operation Mode Specific
Operation Mode
Statusword 6041h
Bit 12 Bit 13
Profile Position Set Point
Acknowledge
Following Error
Profile Velocity Speed Max Slippage Error
Homing* Homing Attained Homing Error
*Homing Mode is currently under development for the MDrivePlus CANopen
Table 4.6: MDrivePlus CANopen Operation Mode Status
Bit 14-15: Manufacturer Specific
These bits may be used by a drive manufacturer to implement any manufacturer specific functionality.