CiA glossary of terms

TermDefinition
arbitration phase phase in which the nominal bit time is used
attachment unit interface interface between the PCS sub-layer and the PMA sub-layer
AUI see attachment unit interface
bit stuffing frame coding method providing bus state changes required for periodic resynchronization when using an NRZ bit representation
bus shared medium of any topology
bus comparator electronic circuit converting analog signals used for transfer across the communication medium back into digital signals
bus driver electronic circuit converting digital signals into analog signals so that these signals can be transferred across the communication medium
bus integrating status of a node waiting on an idle condition
bus state the state of the PMD sub-layer, which is dominant or recessive as defined in ISO 11898-1:2015, chap. 4.6 if the PMA sub-layer is in arbitration mode, or is level_0 or level_1 otherwise
Note 1 to entry: The level_0 state represents the dominant logical 0, and the level_1 state represents the recessive logical 1.
Note 2 to entry: Level_0 and level_1 do not need to overwrite each other.
CAN bridge functional element that links two CAN network segments using the same CAN data link layer communication services, the physical layers can be different
CAN FD data link layer compliant to ISO 11898-1 supporting CBFF (Classical Base Frame Format) and CEFF (Classical Extended Frame Format) as well as FBFF (FD Base Frame Format) and FEFF (FD Extended Frame Format)
CAN FD controller entity implementing the Classical CAN/CAN FD data link layer as stand-alone component or integrated in a micro-controller, an FPGA, or a gate array
CAN FD node entity implementing the data link layer, the PCS sub-layer, and the PMA sub-layer of Classical CAN/CAN FD
CAN FD transceiver CAN transceiver that is compliant with ISO 11898-2 and supports bit rates higher than 1 Mbit/s
CAN SIC transceiver CAN transceiver that is compliant with CiA 601-4
CAN SIC XL transceiver CAN transceiver that is compliant with CiA 610-3
CAN switch functional element that links more than two network segments using the same data link layer communication services, the physical layer can be different
CAN transceiver component that implements a PMA sub-layer compliant to, for example CiA 601-4, CiA 610-3, ISO 11898-2, ISO 11898-3, ISO 11992-1, or SAE J2411
CAN XL data link layer compliant to CiA 610-1 supporting XLFF (XL Frame Format)
CAN XL controller entity implementing the Classical CAN/CAN FD/CAN XL data link layer as stand-alone component or integrated in a micro-controller, an FPGA, or a gate array
CAN XL node entity implementing the data link layer, the PCS sub-layer, and the PMA sub-layer of Classical CAN/CAN FD/CAN XL
CAN/CAN FD/CAN XL repeater functional element that links two or more network segments using the same physical layer with the very same bit-timing
CANopen FD application layer and communication profile as specified in CiA 1301
CANopen FD network system communication system comprising one or more CANopen FD network segments connected by means of CAN/CAN FD bridges/switches or CANopen/CANopen FD router
CANopen Safety safety-related application layer extention as specified in EN 50325-5 (formerly CiA 304)
CANopen/CANopen FD field device electronic unit comprising printed circuit board, firmware, software, and an optional enclosure as well as one or more CANopen/CANopen FD nodes
CANopen/CANopen FD network segment Classical CAN/CAN-FD based communication system comprising cabling, connectors, and CANopen/CANopen FD field devices
CANopen/CANopen FD node entity implementing the CANopen FD application layer services as specified in CiA 301/CiA 1301
CANopen/CANopen FD router functional element that links two or multiple CANopen/CANopen FD network segments using the same network layer communication services, the datalink and physical layer can be different
CBFF see Classical Base Frame Format
CEFF see Classical Extended Frame Format
CiA application profile set of communication interfaces of virtual devices building a logical network system for a dedicated application (e.g. lift control system)
CiA device profile communication interface of a logical device
CiA interface profile communication interface of a logical device providing access to another communication technology
classic CANopen application layer and communication profile as specified in CiA 301 respectively EN 50325-4
Classical Base Frame Format format for Data Frames or Remote Frames using an 11-bit identifier, which are transmitted with one single bit rate and up to and including 8 data bytes
Classical CAN data link layer compliant to ISO 11898-1 supporting CBFF (Classical Base Frame Format) and CEFF (Classical Extended Frame Format) only
Classical CAN controller entity implementing the Classical CAN data link layer as stand-alone component or integrated in a micro-controller, an FPGA, or a gate array
Classical CAN node entity implementing the data link layer, the PCS sub-layer, and the PMA sub-layer of Classical CAN
Classical Extended Frame Format format for Data Frames or Remote Frames using a 29-bit identifier, which are transmitted with one single bit rate and up to and including 8 data bytes
Classical Frame Data Frame or Remote Frame using the Classical Base Frame Format or the Classical Extended Frame Format
COB see communication object
communication object CANopen or CANopen FD application layer service and protocol, as specified in CiA 301 (or EN 50325-4), respectively CiA 1301
content-based arbitration procedure resolving bus-conflicts when multiple nodes simultaneously access the bus
controller (functional) virtual device controlling other virtual devices (e.g. lift door controller)
data bit rate number of bits per time during data phase, independent of the bit-encoding/decoding
data bit time duration of one bit in the data phase
data element entity of a data object addressed uniquely by means of an 8-bit sub-index
Data Frame frame containing application content
data object parameter (variable, array, or record) in the CANopen object dictionary comprising one or more data elements addressed uniquely by means of a 16-bit index
data phase phase in which the data bit time is used
edge difference in bus-states between two consecutive time quanta
EMCY see emergency
EMCY consumer CANopen/CANopen FD functional element receiving EMCY messages from other CANopen/CANopen FD nodes
EMCY producer CANopen/CANopen FD functional element transmitting the EMCY message
emergency COB providing status information of the CANopen/CANopen FD EMCY FSA (finite state automaton) and detailed information about detected communication and application errors
Error Frame frame indicating the detection of an error condition
FAST RX mode mode, in which the PMA sub-layer drives the bus state recessive and the receive thresholds are adjusted to distinguish between the bus states level_0 and level_1
FAST TX mode mode, in which the PMA sub-layer drives the bus states level_0 and level_1, which are not able to overwrite each other
FBFF see FD Base Frame Format
FD Base Frame Format format for Data Frames using an 11-bit identifier, which are transmitted with a flexible bit rate and up to and including 64 data bytes
FD data phase phase in which the FD data bit time is used
FD data bit rate number of bits per time during FD data phase, independent of bit-encoding/decoding
FD data bit time duration of one bit in the FD data phase
FD enabled able to receive and to transmit FD Frames as well as Classical Frames
FD Extended Frame Format format for Data Frames using a 29-bit identifier, which are transmitted with a flexible bit rate and up to and including 64 data bytes
FD Frame Data Frame using the FD Base Frame Format or FD Extended Frame Format
FD intolerant only able to receive or to transmit Classical Frames, disturbing FD Frames
FD tolerant not able to receive or to transmit FD Frames, but not disturbing them
FEFF see FD Extended Frame Format
frame protocol data unit of the data link layer specifying the arrangement and meaning of bits or bit fields in the sequence of transfer across the transmission medium
frame field sub-part of frame (e.g. control field, data field, CRC field, ACK field)
functional element hardware and/or software entity implementing a specific functionality
gateway funtional element that links two or more network segments using different application layer communication services
global network time COB providing a global network time information
handle label of one or multiple LLC frames (LPDU)
Heartbeat COB providing the NMT consumer FSA status as a confirmation of the requested transition and implicitely the availability of the CANopen device on the network
Heartbeat consumer CANopen/CANopen FD functional element receiving Heartbeat messages from other CANopen/CANopen FD nodes
Heartbeat producer CANopen/CANopen FD functional element transmitting the Heartbeat message
High-Speed CAN transceiver CAN transceiver that is compliant with ISO 11898-2 and supports bit rates up to at least 1 Mbit/s
higher-layer protocol protocol above the Data Link Layer protocol according to the Open System Interconnection model [SOURCE: ISO/IEC 7498-1]
HS CAN transceiver see High-Speed CAN transceiver
identifier unique label reflecting the priority of a particular frame
idle operating condition of the bus after the completion of a frame until the next frame starts
Layer Setting Services services and protocols to configure the CAN bit-rate, the node-ID, and the network-ID as specified in CiA 305 or CiA 1305
LLC see logical link control
logical device functional entity within a CANopen or CANopen FD field device using 800h parameters of the device profile area of the CANopen/CANopen FD object dictionary
logical link control sub-layer of the CAN data link layer connecting the higher OSI layers with the MAC sub-layer
logical network system network system not mapped to physical network segments
low-power mode mode in which the transceiver is not capable of transmitting or receiving frames, except for the purposes of determining if a WUP or WUF is being received
LSS see Layer Setting Services
LSS manager layer management entity configuring the node-ID of the CANopen (FD) device, the network-ID of the CANopen FD device, or the CAN bit-rate setting
LSS server layer management entity in a CANopen or a CAN FD device evaluating the LSS messages send by the LSS manager
MAC see medium access control
MDI see medium dependent interface
medium access control sub-layer of the CAN data link layer connecting the LLC sub-layer with the PCS sub-layer
medium dependent interface electrical interface consisting of CAN_H and CAN_L, that defines the signal transfer between the PMD sub-layer and the PMA sub-layer
message entity of the application layer protocol
network management COB send by the NMT producer entity to NMT consumer entities controlling the transitions of the NMT consumer FSA
NMT see network management
NMT manager network management entity transmitting the NMT message
NMT message COB provided by the NMT manager entity evaluated by NMT server entities controlling the transitions of the NMT server FSA
NMT server network management entity evaluating the received NMT message
node clock time base to coordinate the bit-time-related state machines in CAN implementations
nominal bit rate number of bits per time during arbitration phase, independent of the bit-encoding/decoding
nominal bit time duration of one bit in the arbitration phase
normal-power mode mode in which the transceiver is capable of transmitting and receiving frames
Overload Frame frame indicating an overload condition
packet entity of the network layer protocol
parameter field sub-part of a structured parameter
PCS see physical coding sub-layer
PDO see Process Data Object
PDO consumer CANopen/CANopen FD functional element receiving PDO messages from other CANopen/CANopen FD nodes
PDO producer CANopen/CANopen FD functional element transmitting PDO messages
physical coding sub-layer sub-layer that performs the bit-encoding/decoding and synchronization
physical medium attachment sub-layer of the OSI physical layer that converts physical signals into logical signals and vice versa
physical medium dependent sub-layer of the OSI physical layer comprising e.g. termination networks, connectors, cables, and protection circuitries
PMA see physical medium attachment
PMD see physical medium dependent
priority identifier priority identifier
Process Data Object COB providing process data such as commands, status information, or measured data
PWM decoding PMA sub-layer function decoding the PWM-bit-streams into the NRZ-bit-streams
PWM encoding PCS sub-layer function encoding the NRZ-bit-streams into the PWM-bit-streams
PWMD see PWM decoding
PWME see PWM encoding
re-arbitration starting again the transmission of a CAN data or remote frame that has lost bus arbitration
receiver node that, while the bus is not idle, is neither transmitter nor integrating
Remote Frame frame that requests the transmission of a dedicated Data Frame
retransmission starting again the transmission of a CAN data or remote frame that has been not successfully transmitted for any reason except lost bus arbitration
RXD one port of the AUI used to transmit the actual state of the physical medium, in binary format, to the PCS
safety-related data object COB for functional safety as standardized in EN 50325-5
SDO see Service Data Object
SDO/USDO client requestor of an SDO/USDO service reading or writing to object dictionaries
SDO/USDO server responder to an SDO/USDO read or write service request
SDT see service data unit type
segment entity of the transport layer protocol
Service Data Object COB reading or writing to CANopen object dictionary entries
service data unit type field in the XL frame that indicates, which higher-layer protocol is used by the sender
SIC see signal improvement capability
SIC mode implementation according to CiA 601-4 of the arbitration mode specified in CiA 610-1
signal improvement capability capability that the CAN SIC transceivers support to suppress the ringing as specified in CiA 601-4
SRDO see safety-related data object
stuff-rate the repetition rate of stuff bits in a bit sequence, in which the stuff bits are inserted at fixed positions
SYNC see synchronization
SYNC consumer CANopen/CANopen FD functional element receiving the SYNC message
SYNC producer CANopen/CANopen FD functional element transmitting the SYNC message
synchronization COB triggering synchronous PDOs and synchronous data acquisition as well as synchronous actuation in different CANopen nodes
TIME see global network time
TIME consumer CANopen/CANopen FD functional element receiving the TIME message
TIME producer CANopen/CANopen FD functional element transmitting the TIME message
transmitter node sending a data frame or a remote frame
TXD one port of the AUI driven by the PCS to control how the PMA influences the actual state of the physical medium
unit (functional) virtual device controlled by another virtual device (e.g. lift door unit)
Universal Service Data Object COB reading or writing to CANopen FD object dictionary entries inlcluding remote access to CANopen FD field devices in other network segments
USDO see Universal Service Data Object
virtual device functional entity within a logical device compliant to a CiA application profile
XL data bit time duration of one bit in the XL data phase
XL data phase phase in which the XL data bit time is used
XL date bit rate number of bits per time during XL data phase, independent of bit-encoding/decoding
XL Frame Data Frame using the XL Frame Format
XL Frame Format format for Data Frames using an 11-bit priority identifier, including up to 2048 data bytes, where the bit rate is switched at the start and at the end of the data phase
XLFF see XL Frame Format