User Manual CANopen/EtherCAT
67
[Chapter 13]
13 Appendix Glossary
CiA: (“CAN in Automation“). CAN bus user group, generally defines
a protocol for automation.
CAL: (CAN Application Layer) CiA protocol, primarily describes the way in
which variables are transmitted without defining their function or
content.
Subsets:
CMC: (CAN based Message Specification). Sets out the definition
described above. Is accepted by most CAN suppliers. LUST conforms
to this definition.
NMT: (Network Management). Required for masters in the CAN
system. Not implemented by LUST because drive controllers are always
slaves and have no “control function“.
LMT: (Layer Management). See NMT
DBT: (Identifier Distributor). See NMT
CANopen: Based on CAL definition
Corresponds to CiA Draft Standard 301
Extends the CAL definition to include function and unit assignment
of the predefined variables
This definition is being drafted by CiA and various
user groups (MOTION for drive technology and I/O
for inputs/outputs) (e. g. variable for torque in Nm).
General points on the various protocol definitions
CAL: Mainly in use in Europe, LUST has currently implemented a protocol
which can be activated by a CAL master.
The initialisation is simpler than CAL (CCDA), for example addressing
by way of jumper, which has no influence on operation.
DeviceNet: Mainly in the USA (corresponds to CAL definition).
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