Canopen network configuration, Canopen network configuration -4 – Rockwell Automation 20-COMM-K CANopen Adapter User Manual
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Configuring the CANopen Network
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
CANopen Network
Configuration
Network Node Configuration
With help of the configuration tool, set up a CANopen network with a
specific baud rate. Select the required devices (for example, a PLC, input
modules, output modules, and PowerFlex drives with 20-COMM-K
adapters), add them to the network, and assign a unique node ID for each
device.
EDS File
An EDS file is needed for each device on the CANopen network. Go to the
Rockwell Automation web site at
to download EDS files. Save EDS files to an appropriate location on
your computer.
SDO Configuration
Service Data Objects (SDOs) are used to establish a peer-to-peer connection
between two CANopen devices.
SDOs use asynchronous data transmission with acknowledge. The SDOs
are used to access all CANopen objects (
) in the adapter, and
required for adapter configuration/parameterization. Access to an individual
Object is made with a multiplexer via the Index and Sub-index of the Object
Dictionary.
This type of connection is based on a Client/Server-based mechanism.
Configure the PLC as SDO server and install the SDO channels to the other
devices (SDO clients).
PDO Configuration
Process Data Objects (PDOs) are used to transmit the real-time data using
the producer/consumer communication model. The PDOs are transmitted
without any protocol “overhead” and without confirmation. The PDO object
is used for the I/O communication.
There are basically two types of PDOs, depending on the transmission
direction:
•
TPDOs (Transmit PDOs) are used to transfer data from the
communication adapter.
•
RPDOs (Receive PDOs) are used to transfer data to the communication
adapter.
The PDOs are defined via the CANopen Object Dictionary, whereby
pre-defined PDOs can be selected (Default PDO mapping). The mapping
can also be changed if desired. The PDO mapping is made during
configuration with the help of SDOs.