Siemens SINAMICS S120 Installation And Start-Up Manual page 17

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 documentation, COB IDs are always specified as hexadecimal values.
A list of COB identifiers, which contains all the COBs that can be accessed via CAN, is
available in the object directory for the relevant drive unit.
DBT (distributor)
A part of the CAL that controls the distribution of COB IDs. Like most CANopen devices, the
digital servo amplifiers use more straightforward means of assigning COB IDs to a device:
they are selected via default values on the basis of the node ID and can, if necessary, be
changed via SDO.
DRIVECOM
Association of drive manufacturers that has developed standards for networking drives
(profiles). DRIVECOM profile 22 for positioning drives, which is implemented in the servo
amplifier, was used by CiA as a basis for developing CANopen drive profile CiA DSP 402.
EMCY (Emergency)
SINAMICS S120 features an emergency object to inform other nodes on the CANopen bus
of internal device faults or CAN bus faults. It is assigned a high priority and provides
important information about the status of the drive unit.
Channel
With the SINAMICS S120 drive line-up, up to 24 receive PDOs can be received.
One channel in the CAN controller is assigned to each activated receive PDO. Transmit
PDOs are transmitted via two predefined channels.
Send PDOs always use two predefined channels.
NMT (network management)
A part of CAL used for initialization, configuration, and troubleshooting purposes.
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1
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1.3 Terminology
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