CompactModule Metall CR2031
32
Error Reg
Error Register (entry with an error code)
Guarding Error
Node or network participant could or can no longer be found
Guard Master: one or several slaves no longer reply
Guard Slave: no polling of the slave
Guard Time
During this time the network participant expects a "Node Guarding" of the network master
Heartbeat
Cyclic monitoring with parameter setting among network participants� In contrast to "node
guarding" no superior NMT master is required�
ID
(Identifier)
identifies a CAN message� The numerical value of the ID also contains a priority for the
access to the bus system� ID 0 = top priority
Idx
index; together with the S index it forms the address of an entry in the object directory
Life Time Factor number of attempts in case of a missing Guarding reply
Monitoring
is used to describe the error class (guarding monitoring, synch etc�)
NMT
network management
NMT-Master/-
Slaves
The NMT master controls the operating states of the NMT slaves
Node Guarding
adjustable cyclic monitoring of slave network participants by a higher master node as well
as the monitoring of this polling process by the slave participants
Node ID
node identifier (identification of a participant in the CANopen network)
Object (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 device-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 transferred 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
(Rx PDO)
Receive Process Data Object
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
participant is possible (read/write)� An SDO can consist of several CAN messages� The
transfer of the individual messages is confirmed by the addressed participant�
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 participant available to
other participants (clients)�
S-Idx
(SIdx)
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")
