ifm electronic RM9000 - Manual (Page 31)

UK
CANopen encoder
31
higher-level master node as well as monitoring of this polling
process by the slave participants�
Node ID Nodal point identifier (identification of a participant in the CANopen
network)
Object (also 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 status of a CANopen participant�
In this mode SDOs, NMT commands and PDOs can be transferred�
PDO Process Data Object;
in the CANopen network to transfer process data in real time such
as motor speed�
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 status 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 status 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 Input 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) Sub index within the object directory of a CANopen-capable device
Start Guarding Start node monitoring
str Data type string (variable for strings such as text "load")
Sync error Missing sync 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)