Siemens SINAMICS S120 Commissioning Manual page 16

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1.3 Terminology
CAL (CAN Application Layer)
Communication layer above the CAN bus designed for CAN bus applications in open
communication systems. It comprises NMT, DBT, LMT, and CMS elements. Since CAL is
very extensive and highly flexible, a subset of CAL functions for automation applications has
been defined with the CANopen communication profile CiA DS 301.
CAN (controller area network)
A serial bus system (also known as CAN bus) that was originally designed for use in vehicles
but is now also used in automation technology. CANopen (see below) extends the CAN bus
protocols to include additional layers.
CAN controller
An electronic module whose hardware processes the CAN bus protocols.
CAN identifier
With the assignment of CAN identifiers to CAN messages (CANopen: PDOs, SDOs), the
relative priority of the CAN messages to one another is specified.
CANopen
A CiA-defined communication model based on the CAN bus and CAL. To make it easier to
use devices produced by different manufacturers on a bus, a subset of CAL functions for
automation applications has been defined with the CANopen communication profile CiA DS
301. Other profiles are also defined for certain device types (e.g. drives).
CiA (CAN in Automation international users and manufacturers group)
Association of manufacturers and users of devices with a CAN interface.
CMS (CAN message specification)
A part of the CAL that defines different mechanisms for transferring data.
COB (communication object)
On the CAN bus, data is transferred in packages known as communication objects (COB) or
CAN messages.
Devices connected to the CAN bus can transmit and receive COBs.
COB-ID (COB identifier)
Each COB can be uniquely identified by means of an identifier, which is part of the COB.
CAN specification 2.0A supports up to 2048 COBs, which are identified by means of 11-bit
identifiers. In this Commissioning Manual, COB IDs are always specified as hexadecimal
values.
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Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
CANopen interface