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

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Issue:
Altivar Process Drive setup 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

Download and import CanOpen EDS files
- ATV600
  - CANopen v1.1 - VW3A36x8: https://www.se.com/ww/en/download/document/ATV600_CANopen_EDS_V1_1/
  - CANopen v1.2 - VW3A36x8: https://www.se.com/ww/en/download/document/ATV600_CANopen_EDS_V1_2/
  - CANopen v1.3 - VW3A36x8: https://www.se.com/ww/en/download/document/ATV600_CANopen_EDS_V1_3/
  - CANopen v1.4 - VW3A36x8: https://www.se.com/ww/en/download/document/ATV600_CANopen_EDS_V1_4/
  - CANopen v1.5 - VW3A36x8: https://www.se.com/ww/en/download/document/ATV600_CANopen_EDS_V1_5/
  - CANopen v1.6 - VW3A36x8: https://www.se.com/ww/en/download/document/ATV600_CANopen_V1_6/
- ATV900
  - CANopen v1.1 - VW3A36x8: https://www.se.com/ww/en/download/document/ATV900_CANopen_V1_1/
  - CANopen v1.2 - VW3A36x8: https://www.se.com/ww/en/download/document/ATV900_CANopen_V1_2

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
    - https://www.se.com/us/en/en/faqs/content/?id=FA294131
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"