Beckhoff CX8050, Documentation

Page: 168 / 169

Appendix
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
168 Version: 1.4
Comparative Resources)
Franzis Verlag, 2001. 244 pages.
ISBN 3-7723-5745-8
Standards
• ISO 11898:
Road Vehicles - Interchange of digital information - Controller Area Network (CAN) for high speed
communication.
• CiA DS 301:
CANopen Application Layer and Communication Profile. Available from the CAN in Automation
Association (
http://www.can-cia.org ).
• CiA DS 401:
CANopen Device Profile for Generic I/O Modules. Available from the CAN in Automation Association
(
http://www.can-cia.org ).
11.6 List of Abbreviations
CAN
Controller Area Network. A serial bus system standardized in ISO 11898. The technology on which
CANopen is based.
CiA
CAN in Automation e.V.. An international association of manufacturers and users based in Erlangen,
Germany.
COB
Communication Object. A CAN telegram with up to 8 data bytes.
COB-ID
Communication Object Identifier. Telegram address (not to be confused with the node address). CANopen
uses the 11-bit identifier according to CAN 2.0A.
NMT
Network Management. One of the service primitives of the CANopen specification. Network management is
used to initialise the network and to monitor nodes.
PDO
Process Data Object. A CAN telegram for the transfer of process data (e.g. I/O data).
RxPDO
Receive PDO. PDOs are always identified from the point of view of the device under consideration. Thus a
TxPDO with input data from an I/O module becomes an RxPDO from the controller's point of view.
SDO
Service Data Object. A CAN telegram with a protocol for communication with data in the object directory
(typically parameter data).
TxPDO
Transmit PDO (named from the point of view of the CAN node).