IFM Electronic CANMEM CR3101, Device Manual

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CAN
MEM
CR3101
52
Node ID node identifier (identification of a participant in the CANopen network)
Object (also 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 de-
vice-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 transfer-
red 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 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
SDO Service Data Object;
With this object direct access to the object directory of a network partici-
pant is possible (read/write). An SDO can consist of several CAN messages.
The transfer of the individual messages is confirmed by the addressed parti-
cipant.
With the SDOs devices can be configured and parameters can be set.
Server SDO process and parameter set to make the object directory of a network parti-
cipant available to other participants (clients).
S-Idx (also Sldx) Subindex within the object directory of a CANopen device
Start Guarding start node guarding
str data type string (variable for strings such as text "load")
Sync Error missing Sync OBJ in the adjustable communication cycle
Sync object synchronisation object for simultaneous update in the complete network or
for accepting process data of the respective parameterised PDOs.
Sync Windows time during which the synchronous PDOs have to be transferred
Time Stamp time stamp to align existing clocks in network participants
Trans Type type of process data transmission; synchronous, asynchronous
Trans PDO transmit process data object
(also Tx PDO)
Trans SDO transmit service data object
(also Tx SDO)
Tx Queue (transmit) transmission buffer
u8 (16, 32) data type unsigned 8 (16, 32) bits
wo write only