Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 33)

Configuring the Adapter 3-7
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
This cyclic data exchange is only possible for the PDO1. However, there is
another possibility to implement cyclic data exchange for each PDO1:
1. Using the CANopen configuration tool, set the transmission mode of
the TPDO (Transmit PDO) of the adapter to a value between “1” and
“240.”
2. Using the CANopen configuration tool, set the communication cycle
period to a desired value. The cyclic interval is calculated by
multiplying the transmission type by the communication cycle period.
3. No adapter parameter needs to be adjusted.
Using RTR (Remote Transmission Request)
PDOs can be remotely requested by transmitting a CAN remote frame from
the requesting PDO consumer. The corresponding PDO producer responds
to this remote frame.
1. Using the CANopen configuration tool, set the transmission type of the
TPDO (Transmit PDO) of the adapter to “252” (synchronous) or “253”
(asynchronous).
2. No adapter parameter needs to be adjusted.
Setting a Fault Action By default, when I/O communications are disrupted (for example, a cable is
disconnected) or the controller is idle (in program mode or faulted), the
drive responds by faulting if it is using I/O from the network. You can
configure a different response to:
•
Disrupted I/O communication using Parameter 10 - [Comm Flt Action]
•
An idle controller using Parameter 11 - [Idle Flt Action]
!
ATTENTION: Risk of injury or equipment damage exists.
Parameters 10 - [Comm Flt Action] and 11 - [Idle Flt Action]
let you determine the action of the adapter and connected drive if
I/O communications are disrupted or the controller is idle. By
default, these parameters fault the drive. You can set these
parameters so that the drive continues to run. Precautions should
be taken to ensure that the settings of these parameters do not
create a risk of injury or equipment damage. When
commissioning the drive, verify that your system responds
correctly to various situations (for example, a disconnected cable
or faulted controller).