CompactModul Metall CR2032
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COB CANopen Communication Object (PDO, SDO EMCY, ���)
COB ID CANopen Identifier of a Communication Object
Communication
cycle
the synchronisation time to be monitored, max� time between 2 Sync objects
EMCY Object Emergency Object (alarm message, device indicates an error)
Error Reg Error Register (entry with an error code)
Guarding Error Node or network participant could or can no longer be found Guard Master: one or several
slaves no longer reply
Guard Slave: no polling of the slave
Guard Time During this time the network participant expects a "Node Guarding" of the network master
Heartbeat Cyclic monitoring with parameter setting among network participants�
In contrast to "node guarding" no superior NMT master is required�
ID
(Identifier)
identifies a CAN message� The numerical value of the ID also contains a priority for the
access to the bus system
ID 0 = top priority
Idx Index; together with the S index it forms the address of an entry in the object directory
Life Time Factor number of attempts in case of a missing Guarding reply
Monitoring is used to describe the error class (guarding monitoring, synch etc�)
NMT network management
NMT-Master/-
Slaves
The NMT master controls the operating states of the NMT slaves
Node Guarding adjustable cyclic monitoring of slave network participants by a higher master node as well
as the monitoring of this polling process by the slave participants
Node ID node identifier (identification of a participant in the CANopen network)
Object (OBJ) term for data/messages which can be exchanged in the CANopen network
Object directory contains all CANopen communication parameters of a device as well as
device-specific parameters and data� Access to the individual entries is possible via the
index and S index�
Operational Operating state of a CANopen participant� In this mode SDOs, NMT commands and PDOs
can be transferred�
PDO Process Data Object; in the CANopen network for transfer of process data in real time;
such as the speed of a motor� PDOs have a higher priority than SDOs; in contrast to the
SDOs they are transferred without confirmation� PDOs consist of a CAN message with
identifier and up to 8 bytes of user data�
PDO Mapping describes the application data transferred with a PDO�
Pre-Op Preoperational; operating state of a CANopen participant�
After application of the supply voltage each participant automatically goes into this state�
In the CANopen network only SDOs and NMT commands can be transferred in this mode
but no process data�
Prepared (also stopped) operating state of a CANopen participant In this mode only NMT commands
are transferred�
Rec PDO
(Rx PDO)
Receive Process Data Object (also Rx PDO)
ro read only (unidirectional)
rw read-write (bidirectional)
Rx-Queue reception buffer
s16 data type signed 16 bit
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