Festo Электромотор MTR-DCI - Manual (Page 21)

Contents and general safety instructions
XIX
Festo P.BE-MTR-DCI-CO-EN en 1209a
Term/abbreviation Meaning
Object Directory The Object Directory contains all device parameters and current pro-
cessing data which are directly accessible via SDO. The Object Direc-
tory is divided into a range which contains general specifications on
the device (device identification, manufacturer name etc.) and com-
munication parameters, as well as a range which describes the spe-
cific device functions. The identification of an entry (“Object”) in the
Object Directory is made via a 16-bit index and an 8-bit subindex.
PDO Process data object
PDOs are generally transmitted event-orientated, cyclically or on de-
mand. A message can be received and evaluated simultaneously by all
slaves. The assignment of a PDO takes place via a structure descrip-
tion (“PDO mapping”) and can therefore be adapted to the relevant
application requirements of a device. In a PDO the values of several
objects can also be transmitted and the recipients of the PDOs can use
only parts of the data depending on their PDO mapping entries.
SDO Service data object
SDOs are used mainly for transmitting acyclic data, e. g. for initializing
during the boot procedure. With SDOs you can access all entries in
the Object Directory. The relevant Object Directory entries can be
addressed with the index and subindex of the entry. Within an SDO
only one object can be accessed. A reply is always sent to an SDO:
A pair of CAN telegrams per object are transmitted.
Terminating resistor Resistor for minimizing signal reflections. Terminating resistors must be
installed or switched in at the end of bus segment cables.
Tab. 0/4: Index of CANopen terms and abbreviations