Rockwell Automation 20-COMM-K CANopen Adapter User Manual

Page 41

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Configuring the CANopen Network

4-5

Besides the PDO mapping to determine which data are available (mapped)
in the selected PDO, the communication parameters that define the PDO
communication behavior need to be set. This includes the transmission
mode (synchronous or asynchronous) and the triggering mode which can be
Change of State (COS), Cyclic or Remote Transmission Request (RTR).

SYNC Configuration

The synchronization object (SYNC) is used to synchronize the devices.
There has to be a device in the network that is regarded as the SYNC
producer. Usually, the PLC is configured as the SYNC message producer.
The Communication Cycle Period (time between two SYNC messages) can
be set to a desired value.

The SYNC object is used to synchronize PDO communication, trigger the
transmission of a PDO, or perform the action on the last received PDO.

Node/Life Guarding

Node/Life Guarding is used for error control to check that any CANopen
device is working properly. The mechanism used for guarding is based on
the master/slave relationship. The NMT master guards all of its NMT slaves
cyclically (cycle time = Guard Time) by using an RTR frame. Any
CANopen slave responds to this RTR frame to guarantee that the
application program is running (Node Guarding).

Simultaneously, if a slave does not receive an RTR frame from the NMT
master within a specified time (Guard Time x Life Time Factor), the slave
knows that the NMT master must have failed. This mechanism is called Life
Guarding.

Adjust the Guard Time and the Life Time Factor to desired values.

Emergency EMCY

The emergency object is used to send fault information from the
communication adapter to the CANopen network.

The emergency object is triggered by a fault event from the drive or the
communication adapter itself. An emergency object is transmitted only once
per error event.

Saving and Downloading the Configuration

After configuration and parameterization, save all parameters and download
to devices separately. For the download, the adapter must be set in the
Pre-Operational state.

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