Canopen Glossary; A.3 Canopen Glossary - Siemens Sinamics S120 Commissioning Manual

A.3

CANopen glossary

When using a CANopen profile via the CAN bus, you will encounter the following common
terms and abbreviations:
CAL (CAN Application Layer)
Communication layer above the CAN bus designed for CAN bus applications in open
communication systems. It comprises NMT, DBT, LMT, and CMS elements. Since CAL is
very extensive and highly flexible, a subset of CAL functions for automation applications has
been defined with the CANopen communication profile CiA DS 301.
CAN (controller area network)
A serial bus system (also known as CAN bus) that was originally designed for use in vehicles
but is now also used in automation technology. CANopen (see below) extends the CAN bus
protocols to include additional layers.
CAN controller
An electronic module whose hardware processes the CAN bus protocols.
CAN identifier
With the assignment of CAN identifiers to CAN messages (CANopen: PDO, SDO), the
relative priority of the CAN messages to one another is specified.
CANopen
A CiA-defined communication model based on the CAN bus and CAL. To make it easier to
use devices produced by different manufacturers on a bus, a subset of CAL functions for
automation applications has been defined with the CANopen communication profile CiA DS
301. Other profiles are also defined for certain device types (e.g. drives).
CiA (CAN in Automation international users and manufacturers group)
Association of manufacturers and users of devices with a CAN interface.
CMS (CAN message specification)
A part of the CAL that defines different mechanisms for transferring data.
COB (communication object)
On the CAN bus, data is transferred in packages known as communication objects (COB) or
CAN message).
Devices connected to the CAN bus can transmit and receive COB.
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Appendix

A.3 CANopen glossary

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