IFM Electronic Ecomot100 CANcom III Handbuch Seite 81

Node Guarding
Node ID
Object (also OBJ)
Object directory
Operational
PDO
PDO Mapping
Pre-Op
Prepared
Rec PDO
(also Rx PDO)
ro
rw
RX-Queue
s16
SDO
Server SDO
S-Idx (also Sldx)
Start Guarding
str
Sync Error
Sync object
Sync Windows
Time Stamp
Trans Type
Trans PDO
(also Tx PDO)
Trans SDO
(also Tx SDO)
Tx Queue
u8 (16, 32)
wo
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 identifier (identification of a participant in the CANopen network)
term for data/messages which can be exchanged in the CANopen network
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.
Operating state of a CANopen participant
In this mode SDOs, NMT commands and PDOs can be transferred.
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.
describes the application data transferred with a PDO.
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 transfer-
red in this mode but no process data.
(also stopped) operating state of a CANopen participant
In this mode only NMT commands are transferred.
Receive Process Data Object
read only (unidirectional)
read-write (bidirectional)
reception buffer
data type signed 16 bit
Service Data Object;
With this object direct access to the object directory of a network partici-
pant is possible (read/write). An SDO can consist of several CAN messages.
The transfer of the individual messages is confirmed by the addressed parti-
cipant.
With the SDOs devices can be configured and parameters can be set.
process and parameter set to make the object directory of a network parti-
cipant available to other participants (clients).
Subindex within the object directory of a CANopen device
start node guarding
data type string (variable for strings such as text "load")
missing Sync OBJ in the adjustable communication cycle
synchronisation object for simultaneous update in the complete network or
for accepting process data of the respective parameterised PDOs.
time during which the synchronous PDOs have to be transferred
time stamp to align existing clocks in network participants
type of process data transmission; synchronous, asynchronous
transmit process data object
transmit service data object
(transmit) transmission buffer
data type unsigned 8 (16, 32) bits
write only
CAN CR310
COM X
81
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