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How does the speed reference differ using modbus plus on the ATV66 vs ATV58 drive?

Issue:
How does the speed reference differ using modbus plus on the ATV66 vs ATV58 drive?

Product Line:
ATV66 and ATV58 modbus plus

Environment:
All 

Cause:
Speed signal scaling does not match between the ATV58 and ATV66 drive using modbus plus

Resolution:
Peer Cop  ATV66 control and command addresses
Order
Drive Modbus Plus
Address Description Settings Default[1]
1 2021 Command 0
2 2022 Reference frequency 0
(2022) address for freq 
-32767 to 32767
Reference Frequency 26478 = 400 Hz;
-26478 = - 400 Hz (reverse)
Factory default = 0 (0 Hz)

vs

ATV58 Peer Cop Address of Designation Description
Order Number speed controller
variables
1 400 CMD DRIVECOM command register
2 401 LFR Frequency reference on line
(W401)
16#5FE7/2  6A 01 02  LFR 0.1 Hz or 0.015Hz
Serial link frequency reference.

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