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How to Cold start a Lexium MP drive from a PLC on CanOpen?

Goals and Symptoms
The purpose of this resolution is to explain how to 'cold start' a Lexium 15 MP drive from a PLC while communicating over CanOpen.
Facts and Changes
This resolution applies to any PLC programmed on the Unity Platform and talking CanOpen to the Lexium drive.
Causes and Fixes
CanOpen Object with Index 3632 and Sub Index 1 can be used to perform a Cold Start. Both Write_Var and Read_Var using this object from Unity will reset the drive.
Note: WRITE_VAR will return a message 'command not processed error' but will still reset the drive.
READ_VAR will reset the drive with no message. Object 6040 cannot be used in WRITE_VAR as there is a
conflict having already configured this as a PDO.

Legacy KB System (APS) Data: RESL200119 V1.0, Originally authored by TVe on 09/29/2009, Last Edited by TVe on 09/29/2009
Related ranges: Lexium 15
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