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20-COMM-K CANopen Adapter
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Rockwell Automation 20-COMM-K CANopen Adapter User Manual
Rockwell Automation Equipment
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20-COMM-K CANopen Adapter
Firmware 1.xxx
User Manual
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Table of contents
Document Outline
Front Cover
Summary of Changes
Table of Contents
Preface
About This Manual
Related Documentation
Rockwell Automation Support
Conventions Used in This Manual
Chapter 1
Getting Started
Components
Features
Compatible Products
Required Equipment
Safety Precautions
Quick Start
Status Indicators
Chapter 2
Installing the Adapter
Preparing for an Installation
Commissioning the Adapter
Connecting the Adapter to the Drive
Connecting the Adapter to the Network
Applying Power
Chapter 3
Configuring the Adapter
Configuration Tools
Using the PowerFlex 7-Class HIM
Setting the Node Address
Setting the Data Rate
Setting the I/O Configuration
Selecting COS, Cyclic or RTR I/O Data Exchange
Setting a Fault Action
Resetting the Adapter
Viewing the Adapter Status Using Parameters
Flash Updating the Adapter
Chapter 4
Configuring the CANopen Network
Network Management (NMT)
CANopen Object Dictionary
CANopen Network Configuration
Chapter 5
Using I/O Messaging
About Process Data Objects
Understanding the I/O Image
Using Logic Command/ Status
Using Reference/Feedback
Using Datalinks
Transmit PDO Mapping
Receive PDO Mapping
Chapter 6
Using Service Data Objects
About Service Data Objects
Running Service Data Objects
CANopen DPI Parameter Access
CANopen DPI Full Parameter Access
Chapter 7
Troubleshooting
Understanding the Status Indicators
PORT Status Indicator
MOD Status Indicator
NET A (CAN RUN) Status Indicator
NET B (CAN ERR) Status Indicator
Viewing Adapter Diagnostic Items
Viewing and Clearing Events
Appendix A
Specifications
Communications
Electrical
Mechanical
Environmental
Regulatory Compliance
Appendix B
Adapter Parameters
About Parameter Numbers
Parameter List
Appendix C
CANopen Objects
CANopen Object Tables
Emergency Object
Appendix D
Logic Command/Status Words
PowerFlex 7-Class Drives (except PowerFlex 700S)
PowerFlex 700S Drives
Appendix E
CANopen Network Example
Example Network
Configuring the Network Nodes
Configuring the Communications
Configuring the PLC Variables and Linking
Configuring the PDOs, SDOs, and SYNC
Downloading Configuration
PLC Program
Appendix F
Logic Controller Program Example
Configuring the Drive/ Adapter
Network Variables File
Program Code and Program Run
SDO Access Example
Glossary
Index
Back Cover/Pub No./Date
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