Appendix
FC5101 and FC5102
97
Version: 2.0
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 initialize 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).
