Index
16-bit address to access the CANopen dictionary; for array
and records the address is extended by an 8-bit Subindex.
Inhibit timer
Object in CANopen for PDOs and Emergency messages that
forbids for the specified time (inhibit time) a transmission of
this communication object.
Initialization state
NMT Slave state in CANopen that is reached automatically
after power-on and communication or application reset.
Interface profile
CANopen profile that describes just the interface and not the
application behaviour of device, e.g. gateway and bridge
devices.
ISO 11898-1
International standard defining the CAN data link layer
including LLC, MAC and PLS sub-layers.
ISO 11898-2
International standard defining the CAN high-speed MAU.
Life guarding
Method in CANopen to detect that the NMT Master does not
guard the NMT Slave any more. This not recommended for
new systems designs.
Line topology
Networks, where all nodes are connected directly to one bus
line. CAN networks use theoretically just line topologies
without any stub cable. However in practice you find tree and
star topologies as well.
Master
Communication or application entity that is allowed to control
a specific function. In networks this is for example the
initialization of a communication service.
Multiplexed PDO (MPDO)
The MPDO is made of 8 byte including one control byte, three
multiplexer bytes (containing the 24-bit Index and Subindex),
and four bytes of object data.
Network length
Bus length. The network cable length between both
termination resistors. The bus length of CANopen networks is
limited by the used transmission rate. At 1 Mbps the maximum
length is 25 m. When using lower transmission rates, longer
bus lines may be used: at 50 kbps a length of 1 km is possible.
Network management
Entity responsible for the network boot-up procedure and the
optional configuration of nodes. It also may include node-
supervising functions such as node guarding.
Network variables
Network variables are used in programmable CANopen devices
to be mapped into PDOs after programming the device.
NMT
Network management in CANopen.
NMT Master
The NMT Master device performs the network management by
means of transmitting the NMT message. With this message, it
controls the state machines of all connected NMT Slave
devices.
NMT Slave
The NMT Slaves receive the NMT message, which contains
commands for the NMT state machine implemented in
CANopen devices.
