Festo SFC-LAC CO Series, Manual

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Contents and general instructions
XVIII
Festo P.BE−SFC−LAC−CO−EN en 0708NH
CANopen specific terms and abbreviations
Term/abbreviation Meaning
0x1234 or 1234h Hexadecimal numbers are marked by a prefixed 0x" or by a suffixed h".
BCD Binary coded decimal
EDS Electronic Data Sheet; contains the specific properties of the slave
(e.g.number of I/Os, parameters, etc.).
LSB Least significant bit (lower−value bit)
MSB Most significant bit (higher−value bit)
Object Directory The Object Directory contains all device parameters and current processing
data which are directly accessible via SDO.
The object directory possesses 3 ranges:
1xxxh: Identification of the device and communication parameter
2xxxh: specific device functions
6xxxh: standardized parameters for drives as per DS402.
The identification of an entry (Object") in the Object Directory is made via
a 16−bit index and an 8−bit subindex.
PDO Process data object
PDOs are generally transmitted event−orientated, cyclically or on demand.
A message can be received and evaluated simultaneously by all slaves.
The assignment of application objects on a PDO takes place with PDO
mapping".
In a PDO the values of several objects can also be transmitted and the
recipients of the PDOs can use only parts of the data depending on their
PDO mapping entries.
SDO Service data object
SDOs are used mainly for transmitting acyclic data, eg. for initializing dur
ing the boot procedure. With SDOs you can access all entries in the Object
Directory. The relevant Object Directory entries can be addressed with the
index and subindex of the entry. Within an SDO only one object can be
accessed. A reply is always sent to an SDO: A pair of CAN telegrams per
object are transmitted.
Terminating resistor Resistor for minimizing signal reflections. Terminating resistors must be in
stalled or switched in at the end of bus segment cables.
Tab.0/2: Index of CANopen terms and abbreviations