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

Search FAQs

You are currently viewing the content available in Vietnam. If you are looking for information for another region, please select the correct country from the top-left dropdown in the page and 'Navigate to Browse FAQs' in the Support menu.

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"