Document Outline

• Front Cover
• Summary of Changes
• Table of Contents
• Preface
  • About This Manual
    • Related Documentation
    • Rockwell Automation Support
    • Conventions Used in This Manual
• Chapter 1
  • Getting Started
    • Components
    • Features
    • Compatible Products
    • Required Equipment
    • Safety Precautions
    • Quick Start
    • Status Indicators
• Chapter 2
  • Installing the Adapter
    • Preparing for an Installation
    • Commissioning the Adapter
    • Connecting the Adapter to the Drive
    • Connecting the Adapter to the Network
    • Applying Power
• Chapter 3
  • Configuring the Adapter
    • Configuration Tools
    • Using the PowerFlex 7-Class HIM
    • Setting the Node Address
    • Setting the Data Rate
    • Setting the I/O Configuration
    • Selecting COS, Cyclic or RTR I/O Data Exchange
    • Setting a Fault Action
    • Resetting the Adapter
    • Viewing the Adapter Status Using Parameters
    • Flash Updating the Adapter
• Chapter 4
  • Configuring the CANopen Network
    • Network Management (NMT)
    • CANopen Object Dictionary
    • CANopen Network Configuration
• Chapter 5
  • Using I/O Messaging
    • About Process Data Objects
    • Understanding the I/O Image
    • Using Logic Command/ Status
    • Using Reference/Feedback
    • Using Datalinks
    • Transmit PDO Mapping
    • Receive PDO Mapping
• Chapter 6
  • Using Service Data Objects
    • About Service Data Objects
    • Running Service Data Objects
    • CANopen DPI Parameter Access
    • CANopen DPI Full Parameter Access
• Chapter 7
  • Troubleshooting
    • Understanding the Status Indicators
    • PORT Status Indicator
    • MOD Status Indicator
    • NET A (CAN RUN) Status Indicator
    • NET B (CAN ERR) Status Indicator
    • Viewing Adapter Diagnostic Items
    • Viewing and Clearing Events
• Appendix A
  • Specifications
    • Communications
    • Electrical
    • Mechanical
    • Environmental
    • Regulatory Compliance
• Appendix B
  • Adapter Parameters
    • About Parameter Numbers
    • Parameter List
• Appendix C
  • CANopen Objects
    • CANopen Object Tables
    • Emergency Object
• Appendix D
  • Logic Command/Status Words
    • PowerFlex 7-Class Drives (except PowerFlex 700S)
    • PowerFlex 700S Drives
• Appendix E
  • CANopen Network Example
    • Example Network
    • Configuring the Network Nodes
    • Configuring the Communications
    • Configuring the PLC Variables and Linking
    • Configuring the PDOs, SDOs, and SYNC
    • Downloading Configuration
    • PLC Program
• Appendix F
  • Logic Controller Program Example
    • Configuring the Drive/ Adapter
    • Network Variables File
    • Program Code and Program Run
    • SDO Access Example
• Glossary
• Index
• Back Cover/Pub No./Date