CabinetModule CR2014
18
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 transferred
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
receive buffer
s16
data type signed 16 bits (incl� sign, 16-bit format)
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 participant
with the SDOs devices can be configured and parameters can be set
Server SDO
process and parameter set to make the object directory of a network participant
available to other participants (clients)
S-Idx (also SIdx)
subindex within the object directory of a CANopen device
Start Guarding
start node guarding
str
data type string (variable for strings such as text “load”)
Sync Error
missing synch object OBJ in the adjustable synchronisation time
Sync OBJ
synchronisation object for simultaneous update in the complete network or for
accepting process data of the respective parameterised PDOs
Sync Windows
time during which the synchronous PDOs have to be transferred
Time Stamp
time stamp to align existing clocks in network participants
Trans Type
type of process data transmission; synchronous, asynchronous
Trans PDO
transmit process data object
(also Tx PDO)
Trans SDO
transmit service data object
(also Tx SDO)
Tx-Queue
transmit buffer
u8 (16, 32)
data type unsigned 8 (16, 32) bits (unsigned, 8 (16, 32) bit format)
wo
write only