IFM RM8004, Device Manual, Page: 30 / 35

CANopen encoder
30
8 Terms and abbreviations
0b ��� Binary value (for bit coding), e�g� 0b0001 0000
0d ��� Decimal value, e�g� 0d100
0x ��� Hexadecimal value, e�g� 0x64 (= 100 decimal)
Baud rate Transmission speed (1 baud = 1 bit/s)
CAL CAN Application Layer
CAN-based network protocol on application level
CAN Controller Area Network (bus system for the use in mobile vehicles)
CAN_H CAN high; CAN connection/cable with high voltage level
CAN_L CAN low; CAN connection/cable with low voltage level
CANopen CAN-based network protocol on the application level with an open
configuration interface (object directory).
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 supplemented 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 concerning the CANopen communication profile;
describes the basic communication mechanisms between the network
participants such as the transfer of process data in real time,
the data exchange between devices or the configuration phase.
Completed by the following CiA specifications according to the application:
CiA DS 401 Device profile for digital and analogue 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 61131-3)
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 The synchronisation time to be monitored; max� time between 2
cycles sync objects
EMCY object Emergency object (alarm message; device signals 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 device (SLAVE)�
Guard Time Within this time the network participant expects a "node guarding" of the
network master
Heartbeat Configurable cyclic monitoring 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 identifier) 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 response
Monitoring Is used to describe the error class (guarding monitoring, sync etc�)�
NMT Network Management
NMT master/slaves The NMT master controls the operating statuses of the NMT slaves
Node Guarding Adjustable cyclic monitoring of slave network participants by a