Siemens SINAMICS S120 Commissioning Manual page 17

A list of COB identifiers, which contains all the COBs that can be accessed via CAN, is
available in the object directory for the relevant drive unit.
DBT (distributor)
A part of the CAL that controls the distribution of COB IDs. Like most CANopen devices, the
digital servo amplifiers use more straightforward means of assigning COB IDs to a device:
they are selected via default values on the basis of the node ID and can, if necessary, be
changed via SDO.
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.
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.
Channel
With the SINAMICS drive line-up, up to 24 receive PDOs can be received.
One channel in the CAN controller is assigned to each activated receive PDO. Transmit
PDOs are transmitted via two predefined channels.
Transmit PDOs always use two predefined channels.
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.
OD (object directory)
A "database" – or object directory – containing all the objects supported by a drive is defined
for each drive unit. The object directory contains:
● Type, description, and serial number of the device
● Name, format, description + index for each object
● Lists of PDOs and SDOs
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
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1.3 Terminology
17