![background image](http://html.mh-extra.com/html/ifm/cr2011/cr2011_device-manual_620633020.webp)
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�