IFM CR2011, Device Manual, Page: 20 / 21

Output Module CR2011
20
CiA "CAN in Automation e�V�"
(user and manufacturer organisation in Germany /Erlangen)
Definition and control body for CAN and CAN-based network protocols
CiA DS Draft Standard (published CiA specification which usually has not been modified or supple-
mented for one year)
CiA DSP Draft Standard Proposal (published CiA specification draft)
CiA WD Work Draft (work draft accepted for discussion within CiA)
CiA DS 301 Specification for CANopen communication profile; describes the basic communication bet-
ween network participants, such as the transfer of process data in real time, the exchange
of data between units or the configuration stage� Depending on the application this is
completed by the following CiA specifications:
CiA DS 401 Device profile for digital and analog I/O modules
CiA DS 402 Device profile for drives
CiA DS 403 Device profile for HMI
CiA DS 404 Device profile for measurement and control technology
CiA DS 405 Specification for interfaces to programmable systems (IEC 1131)
CiA DS 406 Device profile for encoders
CiA DS 407 Application profile for local public transport
COB CANopen Communication Object (PDO, SDO, EMCY, ���)
COB ID CANopen Identifier of a Communication Object
Communication
cycle
the synchronisation time to be monitored, max� time between 2 Sync objects
EMCY Object Emergency Object (alarm message, device indicates an error)
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�