UK
CompactModul Metall CR2033
27
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
Identifier
see ID
Idx Index;
together with the S index it forms the address of an entry in the object directory
Life Time Factor
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
is used to describe the error class (guarding monitoring, synch etc�)
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
(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 trans-
ferred 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
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 participant is
possible (read/write)� An SDO can consist of several CAN messages�
The transfer of the individual messages is confirmed by the addressed partici-
pant�
With the SDOs devices can be configured and parameters can be set�
