Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 31)

Configuring the Adapter 3-5
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Selecting COS, Cyclic or
RTR I/O Data Exchange The data exchange (sometimes called allocation) is the method that the
adapter uses to exchange real-time data on the CANopen network. The
real-time data is transferred using a PDO (Process Data Object). The
adapter can be configured to use one of the following data exchange types:
Each PDO can have a different type of data exchange, but COS can only be
selected for PDO1 (Status/Feedback word).
COS data exchange must be configured to set both the I/O configuration and
COS parameters in the adapter. Cyclic and RTR data exchanges are
configured in the PLC, so you only need to set the I/O configuration in the
adapter. No adapter parameters need to be adjusted.
For more details, refer to Chapter 5 , Using I/O Messaging .
Using COS (Change of State) Data Exchange
COS means that a PDO is sent whenever the CANopen device has changed
its state (for example, a value has changed).
1. Using the CANopen configuration tool, set the transmission mode of
the TPDO1 (Transmit PDO) of the adapter to “0” (synchronous) or
“254” (asynchronous).
2. Set Parameter 24 - [PDO1 Trigger] to “0” (COS).
Figure 3.4 Example DPO1 Trigger LCD HIM Screen
3. Set Bit 0 (the Logic Command/Reference bit) in Parameter 12 - [DPI
I/O Config] to “1” (Enabled).
Figure 3.5 Example I/O Configuration LCD HIM Screen
•
COS (Change of State)
•
Cyclic
•
RTR (Remote Transmission Request)
Port 5 Device
20-COMM-K
Parameter #: 24
PDO1 Trigger
0
COS
Value Trigger
0
COS (Default)
1 Cyclic
Port 5 Device
20-COMM-K
Parameter #: 12
DPI I/O Cfg
x x x x x x x x x x x 0 0 0 0
1
Cmd/Ref b00