List of Abbreviations

CAN

Controller Area Network. A serial bus system standardized in ISO 11898. The technology on which CANopen is based.

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.

NMT

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

PDO

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

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.

SDO

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

TxPDO

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