User Manual

POSI+ CANOPEN USER MANUAL
Page 6 Version 1.02
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1.4 Definitions
CAN Controller Area Network
CAL CAN Application Layer
CMS CAN Message Specification.
One of the service elements of the a pplication layer in the CAN Reference Model.
COB Communication Object. (CAN message)
A uni t of transportation in a CAN N e t wo r k.
Data must be sent across a Network inside a COB.
COB-ID COB-Identfi er. Identifies a COB uniquely in a Network. The identi fi er determines the
priority of that C OB.
LMT Layer Management. One of the serv ice elements of the application layer in the CAN
Reference Model. It serves to configure parameters of each layer i n the CAN
Reference Model.
NMT Network Management. One of the service elements of the application layer in the CAN
Reference Model. I t perfor ms initialisation, configuration and error handli ng in a CAN
network.
SDO Servi c e Data Object. A data object with lo w prio rity to confi g ure a CAN node.
PDO Process Data Object. A data object with high priority to transmi t d ata in synchron ous and
asynchronous modes.
Additi onally, following abbreviations are used in the manual:
APV Absolute Position Value
CW Clockwise. Turni ng direction as seen on shaft.
CCW Counterclockwise. Turning direction as seen on sha f t.
FC Function code. It determines the kind of message, which is sent across the CAN
network.
NN Node number. It determines uniquel y the CAN devi ce.
PV Preset value
PCV Process value