DEFINITIONS AND ABBREVIATION
CAN Controller Area Network
CiA CAN in Automation e. V.
COB Communication Object (CAN message). A unit of transportation in a CAN network.
Data must be sent across a network inside a COB.
COB-ID COB-Identifier. Identifies a COB uniquely in a network. The identifier determines
the priority of that COB in the MAC sub-layer too.
PDO Process Data Object. Object for data exchange between several devices.
SDO Service Data Object. Peer to peer communication with access to the object
dictionary of a device.
pp Profile Position Mode
pv Profile Velocity Mode
vl Velocity Mode
hm Homing Mode
ip Interpolated Position Mode
tq Profile Torque Mode
all Mandatory for all modes
ce Common entries in the object dictionary
dc Device Control
pc Position Control Function