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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)
    • Configuration of the Drive for Operation with CiA 402 Profile (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"
    Troubleshooting

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