Abbreviations

CAN

Controller Area Network.
Serial bus system standardised in ISO 11898 that is used as the basic technology for CANopen

CiA

CAN in Automation e.V..
An international association of manufacturers and users based in Erlangen, Germany.

CoB

Communication Object.
A CAN telegram with up to 8 data bytes.

CoB-ID

Communication Object Identifier.
Telegram address (not to be confused with the node address).
CANopen uses the 11-bit identifier according to CAN 2.0A.

CoE

CANopen over EtherCAT

ESC

EtherCAT Slave Controller

FBM

Fieldbus master

MC

Motion Control

NMT

Network Management.
One of the service primitives of the CANopen specification. Network management is used to initialize the network and to monitor nodes.

OP

OPERATIONAL

PDO

Process Data Object.
A CAN telegram for the transfer of process data (e.g. I/O data).

PREOP

PRE OPERATIONAL

RxPDO

Receive PDO.
PDOs are always identified from the point of view of the device under consideration. Thus a TxPDO with input data from an I/O module becomes an RxPDO from the controller's point of view.

SAFEOP

SAFE OPERATIONAL

SDO

Service Data Object.
A CAN telegram with a protocol for communication with data in the object directory (typically parameter data).

SI

Subindex

SM

SyncManager

SoE

Servo Profile over EtherCAT

TxPDO

Transmit PDO (named from the point of view of the CAN node).