Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 26)

2-10 Installing the Adapter
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
3. Verify that drive Parameter 213 - [Speed Ref Source] is reporting that
the source of the Reference to the drive is “22” (DPI Port 5). This
ensures that any Reference commanded from the network can be
monitored by using drive Parameter 002 - [Commanded Speed]. If a
problem occurs, this verification step provides the diagnostic capability
to determine whether the drive/adapter or the network is the cause.