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Chapter 1 - Overview
CD1-k – CANopen Communication Profile
Chapter 1 – Overview
3.13
- REFERENCE
CiA DS-201..207
CAN Application Layer for Industrial Applications Version 1.1
CiA DS-301
Application Layer and Communication Profile Version 4.01
CiA DSP-402
Device Profile: Drive and Motion Control Version 1.1
1.2 - DEFINITIONS
CAN
Controller Area Network
CiA
CAN in Automation e. V. CAN-Bus international manufacturer and user organisation.
CAL
CAN Application Layer. The Application layer for CAN as specified by CiA.
COB
Communication Object is a CAN message. Data must be sent accross a CAN network
inside a COB.
COB-ID COB-Identifier.
Each
CAN message has a single identifier. There are 2032 different
identifiers in a CAN network.
NMT
Network Management. One of the services of the application layer. It performs
initialisation, configuration and error handling in a CAN network.
PDO
Process Data Object.
SDO
Service Data Object.
Pp
Profile Position Mode
pv
Profile Velocity Mode
hm Homing
Mode
ip
Interpolated Position Mode
tq
Profile Torque Mode
pc
Position Control Function
CD1-k
Infranor C range servo drive with resolver and encoder feedback input