ATV320 : Safe Maximum Speed - SMLH with CanOpen

[MQY]

Hi,

I am trying to set the SMLH parameter using CanOpen.

The SMS was enabled with SoMove.
With SoMove, I can change SMLH.

Then, with CanOpen, getting the SMS status or SMLH value works fine.

But when writing the SDO @ 207B/53 wich is related to SMLH,
I get 0x80 as a response code and 0X08 as abort code.

According the manual, this means "General error triggered".
Therefore, I assume that the problem is not :

* a unknown index or subindex

* an out of range value

* a read only register

* a not accessible object

* ...

So, does anybody have an idea of what I am doing wrong !

Thanks in advance !

[MQY]

The answer given by the support :

---

There is no surprise that ATV rejects writing to SMLH by canopen.

As you know, Somove is the only dedicated tool to configure safety function. Safety functions, due to requirements for authorized access, are protected by password. Once the safety function has been configured, it is not possible to do any modification without valid password and using Somove tool. Your attempt is practically access violation. Otherwise if your write was successful, then any user via canopen would be able to break the safety function.

Q: And why SMLH is shown with read/write access?
A: It is because Somove is prepared for several types of connection, modbus serial, modus TCP, etc. and one of the possibility is Canopen. Yes, using USB to CAN adapter is should be possible to connect PC with somove to ATV via canopen. Somove has special privileges as it allows to enter password and to configured safety functions. So when this is configured via USB to CAN adapter the ATV parameters are communicated practically via SDOs, including safety parameters like SMLH.

Actually, I was misled by the R/W access of that register.