SmartModul CR2512
26
Communication
cycle
the synchronisation time to be monitored, max� time between 2 Sync objects
EMCY Object
Emergency Object (alarm message, device indicates 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 slave
Guard Time
During this time the network participant expects a "Node Guarding" of the network master
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
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 reply
Monitoring
is used to describe the error class (guarding monitoring, synch etc�)
NMT
network management
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 (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 device-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 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
(Rx PDO)
Receive Process Data Object
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 participant�
With the SDOs devices can be configured and parameters can be set�
