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How do I setup the Altivar Process Drive to communicate over CanOpen?

Issue:
How do I setup the Altivar Process Drive to communicate over CanOpen?

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

Environment:
All serial numbers for Altivar Process Drive

Cause:
N/A

Resolution:
This FAQ will go over some basic settings to check. For a more detailed list of procedures on setting up the drive for CanOpen please reference the manuals attached.

EDS Files Basic Settings
Programming with the Drive
  • Program Communication Settings:
    • [Communication] COM, [CANopen] CnO
      • [CANopen Address] AdCo
        • This is a read/write parameter. The parameter number is 6051 via Modbus access
      • [CANopen Baudrate] bdCO
        • This is a read/write parameter. The parameter number is 6053 via Modbus access.
      • [CANopen Error] ErCO
        • This is a read-only Parameter. The parameter number is 6056 via Modbus access..
  • Program Command Settings:
    • [Complete settings] [Command and Reference]
      • ​For command speed from Network, program:
        • [Ref Freq 1 Config] Fr1 - Set to [CANopen] CAn 
        • [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
  • Powercycle the drive
Programming with SoMove
  • [Parameters List] [Fieldbus] [Slot A - CanOpen]
    • Configure
      • CanOpen Address, Baud Rate & Error
Communicate with the Drive
  • Sending a command to the drive
  • Configuration of the Drive for Operation in I/O Profile
    • [Complete Settings] [Command and Reference] [Control Mode] - Set to IO
    • Command Word - CanOpen Register 2037/2
      Speed Reference Word - CanOpen Registers 2037/3 (Hz) or 2038/3 (rpm)
    • 16 bit word (Bit 0, 1, 2..... 15)
    • Start/Stop for FWD command must turn on bit 0
      • Write a 1 to start
      • Write a 0 to stop
    • Bit 1 to 15 are assignable like logic inputs
      • Example: To assign a fault reset to bit 7 - [Fault reset] - Set to Cd07 (Reference Programming manual for more details)
  • Using CIA402 (DriveCom Profile)
    • Works with other assemblies
    • [Complete Settings] [Command and Reference] [Control Mode] to [Not separ.] or [Separate]
    • Command Word - CanOpen Register 2037/2
      Speed Reference Word - CanOpen Registers 2037/3 (Hz) or 2038/3 (rpm)
    • No 16 bit word
    • Start/Stop
      • Sequence of values must be written to the drive
      • 6, 7 and 15
      • Toggle between 7 and 15 to start and stop or "RDY" to "RUN"
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