CANopen Terms and Definitions

The following terms and definitions are used throughout the CANopen FD Slave documentation. Abbreviations and definitions are based on CiA 1301 Version 1.1.0 (CANopen FD application layer and communication profile), chapters 3.2 and 3.3.

For general CAN abbreviations see the CAN Terms and Definitions page.

CANopen Terms and Definitions

CANopen (FD) controller	CANopen FD device that supports the NMT manager FSA. (CiA 1301, 3.3.5)
CANopen (FD) device	Networked logical entity that resides on a CAN FD device, whereby its communication software controlling the CAN communication is acting according to the rules of CiA 1301. (CiA 1301, 3.3.4)
CANopen master	Deprecated term. See CANopen controller.
CANopen slave	Deprecated term. See CANopen device.
COB — communication object	Network service function, mapped to one or more CAN FD data frames. (CiA 1301, 3.3.9)
COB-ID — communication object identifier	Communication parameter containing the CAN-ID to be used by the corresponding COB. (CiA 1301, 3.3.10)
data element	Single element of a data object, identified uniquely by a 16-bit index and an 8-bit sub-index. (CiA 1301, 3.3.14)
data object	Parameter in the object dictionary, identified uniquely by a 16-bit index. (CiA 1301, 3.3.13)
EEC — emergency error code	16-bit code transmitted in an EMCY message that identifies the type of internal error. (CiA 1301, 3.2)
EMCY — emergency object	Communication object broadcast by a CANopen FD device when an internal error condition is detected or cleared. (CiA 1301, 3.2)
NMT — network management	CANopen service used to control the state machine of network nodes (initialisation, pre-operational, operational, stopped). (CiA 1301, 3.2)
node-ID — node identifier	Network-wide unique identifier for each CANopen FD device, in the range 1–127. (CiA 1301, 3.3.28)
NVM — non-volatile memory	Persistent storage used to retain object dictionary parameters across power cycles. (CiA 1301, 3.2)
PDO — process data object	Communication object for unconfirmed, real-time exchange of process data. PDO content and mapping are defined in the object dictionary. (CiA 1301, 3.2)
RPDO — receive PDO	PDO that is consumed (received) by a CANopen FD device. (CiA 1301, 3.2)
SYNC — synchronization object	Communication object broadcast periodically by a SYNC producer to synchronise PDO transmission across multiple nodes. (CiA 1301, 3.2)
TPDO — transmit PDO	PDO that is produced (transmitted) by a CANopen FD device. (CiA 1301, 3.2)

Note

CiA promotes inclusive language in all its specifications. The terms master and slave are no longer used in current CiA documents and are replaced by controller and device respectively. See CiA house style for the full list of inclusive term substitutions.