| NMT slave |
outdated term, see NMT server |
| NMT master |
outdated term, see NMT manager |
| LSS slave |
outdated term, see LSS server |
| LSS master |
outdated term, see LSS manager |
| PDO |
see process data object |
| PDU |
see protocol data unit |
| SYNC |
see synchronization |
| TIME |
see time stamp |
| USDO |
see universal service data object |
| EMCY |
see emergency |
| COB |
see communication object |
| SDO |
see service data object |
| XLFF |
see XL frame format |
| XL frame format |
format for data frames using an 11-bit identifier, including up to 2048 data bytes, where the bit rate is switched at the beginning and at the end of the data phase [Source: ISO 11898-1:2024] |
| XL frame |
data frame using the XL frame format [Source: ISO 11898-1:2024] |
| XL date bit rate |
number of bits per time during XL data phase, independent of bit-encoding/decoding |
| XL data phase |
phase in which the XL data bit time is used |
| XL data bit time |
duration of one bit in the XL data phase |
| TXD |
port of the attachment unit interface (AUI) driven by the physical coding sublayer (PCS) to control how the physical medium attachment (PMA) influences the actual state of the physical medium [Source: ISO 11898-2:2024] |
| transmitter |
node sending CAN frames [Source: ISO 11898-2:2024] |
| stuff-rate |
repetition rate of stuff bits in a bit sequence, in which the stuff bits are inserted at fixed positions |
| SBC |
see stuff bit count |
| stuff bit count |
number of stuff bits in a frame before the cyclic redundancy check (CRC) field, not including fixed stuff bits [Source: ISO 11898-1:2024] |
| SRDO |
see safety-related data object |
| signal improvement capability |
capability to suppress the ringing on the MDI Note 1 to entry: specified in the high-speed physical medium attachment (HS-PMA) implementation parameter set C in Table 14 and Table 17 [Source: ISO 11898-2:2024] |
| SIC mode |
mode according to the high-speed physical medium attachment (HS-PMA) during the arbitration phase Note 1 to entry: For PMA implementations, it is according to parameter set C or Annex A. [Source: ISO 11898-2:2024] |
| SIC |
see signal improvement capability |
| service data unit type |
field in the XL frame that indicates, which higher-layer protocol is used by the sender |
| SDT |
see service data unit type |
| safety-related data object |
COB for safety-related data transfer as standardized in EN 50325-5 mapped to two CAN CC data frames with bit-wise inverted data field values |
| RXD |
port of the attachment unit interface (AUI) used to transmit the actual state of the physical medium, in binary format, to the physical coding sublayer (PCS) [Source: ISO 11898-2:2024] |
| retransmission |
re-starting the transmission of a CAN data or remote frame that has not been successfully transmitted for any reason except lost bus arbitration |
| remote frame |
frame that requests the transmission of a dedicated data frame [Source: ISO 11898-1:2024] |
| RF |
see remote frame |
| receiver |
node that, while the bus is not idle, is neither transmitting nor integrating [Source: ISO 11898-1:2024] |
| re-arbitration |
re-starting the transmission of a CAN data or remote frame that lost arbitration |
| PWME |
see PWM encoding |
| PWMD |
see PWM decoding |
| PWM encoding |
physical coding sublayer (PCS) function encoding the non-return-to-zero (NRZ) bit streams into the pulse-width modulation (PWM) bit streams [Source: ISO 11898-2:2024] |
| PWM decoding |
physical medium attachment (PMA) sublayer function decoding the pulse-width modulation (PWM) bit streams into the non-return-to-zero (NRZ) bit streams [Source: ISO 11898-2:2024] |
| priority identifier |
field of the CAN XL frame indicating the priority for bus arbitration |
| priority |
attribute to a data frame and to a remote frame controlling its ranking during the arbitration. Note 1 to entry: A high priority increases the probability that a data frame or a remote frame wins the arbitration process. [Source: ISO 11898-1:2024] |
| protocol |
formal set of conventions or rules for the exchange of information between nodes, including the specification of frame administration, frame transfer, and physical medium attachment (PMA) [Source: ISO 11898-1:2024] |
| PMD |
see physical medium dependent |
| PMA |
see physical medium attachment |
| physical medium dependent |
sublayer of the OSI physical layer specifying optional protection circuitry, galvanic isolation, connectors, cables, etc. |
| physical medium attachment |
sublayer of the OSI physical layer that converts physical signals into logical signals and vice versa [Source: ISO 11898-2:2024] |
| PCS |
see physical coding sublayer |
| physical coding sublayer |
sublayer of the OSI physical layer that performs bit encoding/decoding and synchronization [Source: ISO 11898-1:2024] |
| overload frame |
frame indicating an overload condition [Source: ISO 11898-1:2024] |
| OF |
see overload frame |
| open systems interconnection reference model |
abstract representation of a communication system in seven layers, each performing a specific subset of functionalities required for the communication system. Note 1 to entry: In CAN, the lower two layers (physical layer and data link layer) are specified in ISO 11898-2, and ISO 11898-1, for example. Note 2 to entry: The OSI reference model is specified in ISO/IEC 7498-1 and ISO/IEC 10731. |
| OSI reference model |
see open systems interconnection reference model |
| normal-power mode |
mode in which the transceiver is capable of transmitting and receiving [Source: ISO 11898-2:2024] |
| nominal bit time |
duration of one bit in an arbitration phase, defined by a number of nominal time quanta in the bit [Source: ISO 11898-1:2024] |
| non-return-to-zero |
method of representing binary signals, i.e., within one and the same bit time, the signal level does not change, where a stream of bits having the same logical value provides no edges [Source: ISO 11898-1:2024] |
| NRZ |
see non-return-to-zero |
| nominal bit rate |
number of bits per time during an arbitration phase, independent of the bit-encoding/decoding [Source: ISO 11898-1:2024] |
| node clock |
time base to coordinate the bit-time-related state machines in controller area network (CAN) nodes [Source: ISO 11898-1:2024] |
| node |
assembly, linked to a communication network, capable of communicating across the network according to a communication protocol specification. Note 1 to entry: A node operating in a controller area network (CAN) is called a CAN node.
[Source: ISO 11898-1:2024] |
| NMT server |
network management entity evaluating the received NMT message |
| 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 |
see network management |
| network management |
CANopen functionality requesting CANopen nodes to perform state transitions of the NMT finite state automaton (FSA) |
| medium dependent interface |
Note 1 to entry: The dominant state represents the logical 0 and the recessive state represents the logical 1. During simultaneous transmission of dominant and recessive bits, the resulting bus state is dominant. When no transmission is in progress, the bus is idle. During idle time, it is in recessive state. |
| medium access control |
state of the medium dependent interface (MDI), which is dominant or recessive if the physical medium attachment (PMA) sublayer is in arbitration mode, or is level_0 or level_1 otherwise |
| MDI |
see medium dependent interface |
| MDI state |
state of the medium dependent interface (MDI), which is dominant or recessive if the physical medium attachment (PMA) sublayer is in arbitration mode, or is level_0 or level_1 otherwise. Note 1 to entry: The dominant state represents the logical 0 and the recessive state represents the logical 1. During simultaneous transmission of dominant and recessive bits, the resulting bus state is dominant. When no transmission is in progress, the bus is idle. During idle time, it is in recessive state. Note 2 to entry: The level_0 state represents the logical 0, and the level_1 state represents the logical 1. [Source: ISO 11898-2:2024] |
| MAC |
see medium access control |
| LSS |
see layer setting services |
| 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 (wake-up pattern) or WUF (wake-up frame) is being received [Source: ISO 11898-2:2024] |
| logical link control |
sublayer of the CAN data link layer connecting the higher OSI layers with the MAC sublayer |
| LLC |
see logical link control |
| LSS server |
layer management entity in a CANopen device evaluating the LSS messages sent by the LSS manager |
| LSS manager |
layer management entity configuring the CAN bit-rate settings, the node-ID of the CANopen device, or the network-ID of the CANopen FD device |
| layer setting services |
services and protocols to configure CAN bit-rate settings, the node-ID of the CANopen device, or the network-ID of the CANopen FD device, as specified in CiA 305 respectively CiA 1305 |
| bus-off |
state of a node in which it does not influence the bus [Source: ISO 11898-1:2024] |
| idle |
operating condition of the bus after the completion of a frame until the next frame starts [Source: ISO 11898-1:2024]. Note 1 to entry: In bus idle condition, the AUI is in recessive state. |
| idle condition |
detection of a consecutive sequence of 11 sampled recessive bits [Source: ISO 11898-1:2024] |
| integrating |
status of a node waiting on an idle condition after starting the protocol operation during bus-off recovery or after a protocol exception event [Source: ISO 11898-1:2024] |
| identifier |
unique label reflecting the priority of a particular frame [Source: ISO 11898-1:2024] |
| ID |
see identifier |
| identifier-based arbitration |
carrier sense multiple access/collision resolution arbitration procedure resolving bus contention when multiple nodes simultaneously access the bus [Source: ISO 11898-1:2024] |
| CAN HS transceiver |
see CAN high-speed transceiver |
| higher-layer protocol |
protocol above the data link layer protocol, e.g., transport layer protocol or network layer protocol according to the open systems interconnection model [Source: ISO 11898-1:2024] |
| HLP |
see higher-layer protocol |
| HS-PMA legacy implementation |
implementation with function coverage compliant with ISO 11898-2:2003 |
| CAN high-speed transceiver |
CAN transceiver that is compliant with ISO 11898-2, is specified for bit rates up to 1 Mbit/s and does not support SIC mode, FAST RX mode, and FAST TX mode |
| 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 |
| handle |
label of one or multiple logical link control (LLC) frames, or data link layer service data units (LSDU), the data link layer (DLL)'s interface data coming from the higher open systems interconnection (OSI) layers (network layer or transport layer)
[Source: ISO 11898-1:2024]. Note 1 to entry: Applies to the scope of ISO 11898-1, only. |
| 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 [Source: ISO 11898-1:2024] |
| FEFF |
see FD extended frame format |
| finite state automaton |
abstract machine that can be in exactly one of a finite number of states at any given time, it can transit to other states in response to specified events |
| FSA |
see finite state automaton |
| FD tolerant |
not able to receive or to transmit FD frames, but not disturbing them [Source: ISO 11898-1:2024] |
| FD frame |
data frame using the FD base frame format or FD extended frame format [Source: ISO 11898-1:2024] |
| FD extended frame format |
format for data frames using a 29-bit identifier, which can be transmitted with a flexible bit rate [Source: ISO 11898-1:2024] |
| FD enabled |
able to receive and to transmit FD frames as well as CC frames [Source: ISO 11898-1:2024] |
| FD data bit time |
duration of one bit in the FD data phase |
| FD data bit rate |
number of bits per time during FD data phase, independent of bit-encoding/decoding |
| FD data phase |
phase in which the FD data bit time is used |
| FD base frame format |
format for data frames using an 11-bit identifier, which can be transmitted with a flexible bit rate [Source: ISO 11898-1:2024] |
| FBFF |
see FD base frame format |
| FAST TX mode |
mode in which the physical medium attachment (PMA) sublayer drives the bus states level_0 and level_1, which are not able to overwrite each other [Source: ISO 11898-2:2024] |
| FAST RX mode |
mode in which the physical medium attachment (PMA) sublayer drives the bus state recessive and the receive thresholds are adjusted to distinguish between the bus states level_0 and level_1 [Source: ISO 11898-2:2024] |
| error frame |
frame indicating the detection of an error condition [Source: ISO 11898-1:2024] |
| EF |
see error frame |
| edge |
difference in bus states between two consecutive time quanta [Source: ISO 11898-1:2024] |
| data phase |
phase in which the data bit time is used [Source: ISO 11898-1:2024] |
| data object |
variable, array, or record in the CANopen object dictionary addressed uniquely by means of a 16-bit index, comprising one or more data elements |
| data frame |
frame containing application content [Source: ISO 11898-1:2024] |
| data element |
entity of a data object, representing a parameter in the CANopen object dictionary addressed uniquely by means of an 8-bit sub-index |
| data bit time |
duration of one bit in data phase, defined by a number of data time quanta in the bit [Source: ISO 11898-1:2024] |
| data bit rate |
number of bits per time during data phase, independent of bit encoding/decoding [Source: ISO 11898-1:2024] |
| data RX mode |
operating mode of the physical medium attachment (PMA) sub-layer in which the bus states can be different from the bus states in the arbitration mode [Source: ISO 11898-1:2024] |
| data TX mode |
operating mode of the physical medium attachment (PMA) sub-layer in which it can drive the bus states differently than it drives them in the arbitration mode [Source: ISO 11898-1:2024] |
| contention-based arbitration |
arbitration procedure, in which simultaneous access of multiple CAN nodes results in a contention, which is non-destructively resolved, giving the frame with the highest priority immediately bus access |
| communication object |
network service function mapped to one or more CAN data or remote frames, as specified in CiA 301 (or EN 50325-4) respectively CiA 1301 |
| classic frame |
data frame or remote frame using the classic base frame format or the classic extended frame format [Source: ISO 11898-1:2024] |
| classic extended frame format |
format for data frames and remote frames using an 29-bit identifier, which are transmitted with one single bit rate, supporting data field lengths of zero up to eight byte |
| classic base frame format |
format for data frames and remote frames using an 11-bit identifier, which are transmitted with one single bit rate, supporting data field lengths of zero up to eight byte |
| CiA interface profile |
CiA device profile for logical devices that provide access to another communication technology |
| CEFF |
see classic extended frame format |
| CBFF |
see classic base frame format |
| CC frame |
see classic frame |
| CAN XL node |
node, implementing the CAN XL data link layer, the PCS sublayer, and a CAN PMA sublayer |
| CAN XL controller |
entity implementing the CAN CC/CAN FD/CAN XL data link layer, including the PCS sublayer |
| CAN XL |
data link layer compliant to ISO 11898-1 supporting CBFF (classic base frame format), CEFF (classic extended frame format), FBFF (FD base frame format), and FEFF (FD extended frame format) as well as XLFF (XL frame format), providing data field range from 1 byte to 2048 byte |
| CAN transceiver |
component that implements the interface between CAN controller and the physical transmission media, converting the digital signals from the CAN controller into (typically differential) signals that are transmitted via the physical transmission media and vice versa. Note 1 to entry: Depending on the intended transmission media, CAN transceiver implementations comply with standards and specifications such as ISO 11898-2, ISO 11898-3, ISO 11992-1, or SAE J2411. |
| CAN SIC XL transceiver |
CAN SIC transceiver, supporting FAST RX mode and FAST TX mode |
| CAN SIC transceiver |
CAN FD transceiver that suppresses ringing on the bus lines and does not support FAST RX mode as well as FAST TX mode |
| CAN CC node |
logical entity implementing the CAN CC data link layer, the PCS sublayer, and one of the PMA sublayers |
| CAN FD transceiver |
CAN transceiver that is compliant with ISO 11898-2, is specified for bit rates higher than 1 Mbit/s and does not support SIC mode, FAST RX mode, and FAST TX mode |
| CAN FD node |
node, implementing the CAN FD data link layer, the PCS sublayer, and a CAN PMA sublayer |
| CAN FD controller |
entity implementing the CAN CC/CAN FD data link layer, including the PCS sublayer |
| CAN FD light |
protocol option that covers a subset of the CAN FD functionaliy |
| CAN FD light commander node |
node that sends data frames to CAN FD light responder nodes to initiate a CAN FD light communication [Source: ISO 11898-1:2024] |
| CAN FD light responder node |
node that is controlled by a CAN FD light commander node using CAN FD light communication [Source: ISO 11898-1:2024] |
| CAN_H, CAN_L |
pair of ports of the MDI Note 1 to entry: Definition applies to the PMA. |
| CAN CC controller |
entity implementing the CAN CC data link layer, including the PCS sublayer |
| bus state |
see AUI state; see MDI state |
| bus driver |
electronic circuit converting digital signals into analog signals so that these signals can be transferred across the communication medium, i.e., the bus [Source: ISO 11898-1:2024] |
| bus comparator |
electronic circuit converting analog signals used for transfer across the communication medium back into digital signals [Source: ISO 11898-1:2024] |
| bus |
shared medium of any topology [Source: ISO 11898-1:2024] |
| bit stuffing |
frame coding method providing bus state changes required for periodic resynchronization when using a non-return-to-zero (NRZ) bit representation Note 1 to entry: Two types of bit stuffing exist: dynamic bit stuffing and fixed bit stuffing. The transmitter adds stuff bits into the outgoing bit stream and receivers de-stuff the data frames and the remote frames i.e., the inverse procedure is carried out. [Source: ISO 11898-1:2024] |
| AUI |
see attachment unit interface |
| AUI state |
one of two complementary logical states: dominant or recessive Note 1 to entry: The dominant state represents the logical 0, and the recessive state represents the logical 1. The terms "dominant" and "recessive" for bit values of the medium access control (MAC) frame are used independent of the transceiver mode. Note 2 to entry: In the FAST mode the logical 0 is represented by level_0 and the logical 1 is represented by level_1. |
| attachment unit interface |
interface between the physical coding sublayer (PCS) and the physical medium attachment (PMA) sublayer [Source: ISO 11898-1:2024] |
| arbitration phase |
phase in which the nominal bit time is used [Source: ISO 11898-1:2024] |
| active recessive |
intermediate high-speed physical medium attachment (HS-PMA) output drive with a dedicated lower than nominal impedance at transitions from dominant state or level_0 state towards the passive recessive state with a dedicated duration [Source: ISO 11898-2:2024] |
| arbitration mode |
operating mode of the physical coding sublayer (PCS) in which it is allowed that dominant bits can overwrite recessive bits [Source: ISO 11898-1:2024] |
| passive recessive |
final high-speed physical medium attachment (HS-PMA) output drive with nominal impedance, also known as recessive [Source: ISO 11898-2:2024] |
| CAN repeater |
hardware assembly that links two or more network segments using the same physical layer with the very same bit-timing |
| 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 |
| CANopen FD |
application layer and communication profile as specified in CiA 1301 |
| CANopen node |
node implementing the CANopen application layer services as specified in CiA 301 or CiA 1301 |
| CANopen field device |
electronic unit comprising printed circuit board, firmware, software, and an optional enclosure as well as one or more CANopen nodes |
| CANopen network segment |
CAN-based communication system comprising cabling, connectors, and CANopen field devices |
| CANopen router |
functional element that links two or multiple CANopen network segments using the same network layer communication services, the data link and physical layer can be different |
| CANopen Safety |
safety-related application layer extention as specified in EN 50325-5 (formerly CiA 304) |
| CiA application profile |
set of defined functional entities and communication interfaces enabling virtual devices building a logical network system for a dedicated application (e.g., lift control system) to achieve interoperability Note 1 to entry: This includes specification of process data, configuration parameters, and diagnostic information as well as communication relations between virtual devices. |
| CiA device profile |
set of defined functional entities and communication interfaces, enabling logical devices to exhibit the same behavior. Note 1 to entry: This includes specification of process data, configuration parameters, and diagnostic information. |
| CANopen CC |
application layer and communication profile as specified in CiA 301 respectively EN 50325-4 |
| controller (functional) |
virtual device controlling other virtual devices (e.g., lift door controller) |
| emergency EMCY |
COB providing status information of the CANopen EMCY FSA (finite state automaton) and detailed information about detected communication and application errors |
| EMCY producer |
CANopen entity, transmitting the EMCY message |
| EMCY consumer |
CANopen entity, receiving EMCY messages from other CANopen nodes |
| frame field |
sub-part of a 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 |
| heartbeat producer |
CANopen functional element transmitting the heartbeat message |
| heartbeat consumer |
CANopen functional element receiving heartbeat messages from other CANopen nodes |
| logical device |
logical entity of a CANopen device providing to the CANopen device status-, control and diagnostic information in a pre-defined format |
| logical network system |
network system not mapped to physical network segments |
| message |
entity of the application layer protocol |
| packet |
entity of the network layer protocol |
| parameter field |
sub-part of a structured parameter |
| process data object |
COB providing process data such as commands, status information, or measured data |
| PDO consumer |
CANopen functional entity receiving PDO messages from other CANopen nodes |
| PDO producer |
CANopen functional entity transmitting PDO messages |
| SDO client |
requestor of an SDO service reading or writing to object dictionaries in CANopen CC |
| SDO server |
responder to an SDO read or write service request in CANopen CC |
| segment |
entity of the transport layer protocol |
| service data object |
COB reading or writing to CANopen CC object dictionary entries |
| synchronization SYNC |
COB triggering synchronous PDOs and synchronous data acquisition as well as synchronous actuation in different CANopen nodes |
| SYNC consumer |
CANopen functional element receiving the SYNC message |
| SYNC producer |
CANopen functional element transmitting the SYNC message |
| global network time |
COB providing a global network time information |
| TIME consumer |
CANopen functional entity receiving the TIME message |
| TIME producer |
CANopen functional entity transmitting the TIME message |
| 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 |
| virtual device |
functional entity within a logical device compliant to a CiA application profile |
| 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 FD |
data link layer compliant to ISO 11898-1 supporting CBFF (classic base frame format) and CEFF (classic extended frame format) as well as FBFF (FD base frame format) and FEFF (FD extended frame format), providing data field range from 0 byte to 64 byte |
| CAN CC |
data link layer compliant with ISO 11898-1 supporting CBFF (classic base frame format) and CEFF (classic extended frame format), providing data field range from 0 byte to 8 byte |
| minimum time quantum |
smallest time quantum that can be configured for the specific node [Source: ISO 11898-1:2024] |
| multicast |
transmission of the same PDU to a group of nodes. Note 1 to entry: A broadcast is a special case of multicast, whereby a single PDU is addressed to all nodes simultaneously. |
| protocol data unit |
unit of data specified in a protocol, consisting of protocol control information and user data [Source: ISO 18426:2013] |
| protocol exception event |
either exception from the formal set of conventions or rules to be able to tolerate future new frame formats, or reaction to errors when controller area network (CAN) XL is used with error signalling disabled [Source: ISO 11898-1:2024] |
| time stamp TIME |
COB providing a time information in CANopen |
| transceiver |
electronic circuitry, implementing the physical medium attachment (PMA) sublayer, that connects controller area network (CAN) nodes to a CAN bus consisting of a bus comparator and a bus driver [Source: ISO 11898-1:2024] |
| transceiver mode |
operating mode of the physical medium attachment (PMA) sublayer [Source: ISO 11898-1:2024] |
| USDO client |
requestor of an USDO service reading or writing to object dictionaries in CANopen FD |
| USDO server |
responder to an USDO read or write service request in CANopen FD |