Siemens Sinamics S120 Commissioning Manual page 146

Appendix
A.3 CANopen glossary
COB-ID (COB identifier)
Each COB can be uniquely identified by means of an identifier, which is part of the COB.
CAN specification 2.0A supports up to 2048 COB, which are identified by means of 11-bit
identifiers. In this Commissioning Manual, COB IDs are always specified as hexadecimal
values.
A list of COB identifiers, which contains all the COB that can be accessed via CAN, is
available in the object directory for the relevant drive unit.
DRIVECOM
Association of drive manufacturers that has developed standards for networking drives
(profiles). DRIVECOM profile 22 for positioning drives, which is implemented in the servo
amplifier, was used by CiA as a basis for developing CANopen drive profile CiA DSP 402.
EDS (Electronic Data Sheet)
Electronic data sheet
EMCY (Emergency)
SINAMICS features an emergency object to inform other nodes on the CANopen bus of
internal device faults or CAN bus faults. It is assigned a high priority and provides important
information about the status of the drive unit.
NMT (network management)
A part of CAL used for initialization, configuration, and troubleshooting purposes.
Node ID (node identification)
Uniquely identifies a device in the CANopen network. For this reason, all the devices must
have a unique node ID (bus address). The default distribution (standard setting) of the COB
IDs is derived from the node ID. In this Commissioning Manual, node IDs are always
specified as hexadecimal values.
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Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
CANopen interface