Model-based testing has mainly focused on models where concurrency is interpreted as interleaving (like the ioco theory for labeled transition systems), which may be too coarse when one wants concurrency to be preserved in the implementation. In order to test such concurrent systems, we choose to use Petri nets as specifications and define a concurrent conformance relation named co-ioco. We present a test generation algorithm based on Petri net unfolding able to build a complete test suite w.r.t our co-ioco conformance relation. In addition we propose several coverage criteria that allow to select finite prefixes of an unfolding in order to build manageable test suites.