Manual

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

COS

Value Trigger

0COS (Default)

1Cyclic

Port 5 Device

20-COMM-K

Parameter #: 12

DPI I/O Cfg

xxxxxxxxxxx0000

Cmd/Ref b00