CiA glossary of terms
| Term | Definition |
|---|---|
| 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 master | outdated term, see LSS manager |
| LSS server | layer management entity in a CANopen or a CAN FD device evaluating the LSS messages send by the LSS manager |
| LSS slave | outdated term, see LSS server |
| 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 master | outdated term, see NMT manager |
| 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 |
| NMT slave | outdated term, see NMT server |
| 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 |