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How do I setup the Altivar Process Drive to communicate over Modbus over Ethernet (TCP)?

Issue:
What basic parameters on the Altivar Process Drive do I need to I configure to establish a connection and communicate to the drive over the Embedded Modbus Ethernet protocol?

Product Line:
Altivar Process Drive (ATV630, ATV930, ATV650, ATV950, ATV660, ATV960, ATV680, ATV980)

Environment:
All serial numbers for Altivar Process Drive

Cause:
Need to connect to the drive and communicate over Modbus

Resolution:

Setting up Modbus TCP on the Drive
EDS Files
Basic Settings
  • Program Communication Settings:
    • [Communication] [Comm parameters] [Ethernet Embd] EtE submenu
      • [IP Mode Ether. Embd]
      • [IP address]
      • [Mask]
      • [Gateway]
    • ​​​Setting up a Modbus Address
      • [Communication] [Comm parameters] [Modbus SL] [Modbus Fieldbus]
        • ​[Modbus Address]
        • [Bd.RateModbus]
        • [Modbus Format]
        • [Modbus Timeout]​​​
      • To read/write directly to individual 4x registers you will need to set a Modbus Address in the drive. 
        • The Modbus Address should match your Unit ID on PLC (Typically that is Unit ID of 1)
      • When using the IO scanner input/output tables you will need to use a Unit ID of 255
  • Remember to Powercycle the Drive after any communication changes
  • Programming Command Settings:
    • [Complete settings] [Command and Reference]
      • ​For command speed from Network, program:
        • [Ref Freq 1 Config] Fr1 - Set to [Embedded Ethernet] Eth
        • [Ref 1B switching] rCb - Set to [Ref Freq Channel 1] Fr1
        • [Control Mode] CHCF - Set to [Not separ.] SIM
      • ​​Video: Setting an Auto/Manual or Reference Switching on the Altivar Process Drives
  • Program Communication Settings (from SoMove)
    • ​​[Parameters List] [Fieldbus] [Modbus TCP/Ethernt IP]
    • Configure Drive Protocol (ATV900)
      • Ethernet Protocol - Set to Modbus TCP
Commanding the Drive
  • Using IO Profile characteristics:
    • [Complete Settings] [Command and Reference] [Control Mode] - Set to "IO"
    • Command Word - 8501
    • 16 bit word (Bit 0, 1, 2..... 15)
    • Start/Stop must turn on bit 0 (first bit)
      • Write a 1 to start
      • Write a 0 to stop
    • Bit 1 to 15 are assignable to other drive functions like Fault Reset
    • Speed Reference
    • Speed Reference Word:
      • 8502 (Hz) and 8602 (rpm)
  • Using CIA402 (DriveCom Profile) characteristics:
    • Works with all assemblies
    • [Control Mode] to [Not separ.] or [Separate]
    • Command Word - 8501
    • No 16 bit word
    • Start/Stop
      • Drive will display nSt on top left corner.
      • A sequence of values must be written to the drive:
        • 6, 7 and 15 decimal values
        • Toggle between 7 and 15 to start and stop
    • Speed Reference
      • Speed Reference Word:
        • 8502 (Hz) and 8602 (rpm)

Related FAQ: 
FA316343: How do I troubleshoot an Altivar Process Drive that would not connect to a Modbus over Ethernet (Modbus TCP) network?


 
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