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A Appendix
GX-series EtherCAT Slave Unit User’s Manual
A-6 Glossary
A
A-6 Glossary
Use the following list of EtherCAT terms for reference.
Term
Abbrevia-
tion
Description
AL status (application layer status) −
Status for indicating information on errors that occur in an application
on a slave.
cable redundancy −
A function for continuing the communications even when cable
disconnection or slave power failure occurs on the EtherCAT system.
CAN application protocol over
EtherCAT
CoE A CAN application protocol service implemented on EtherCAT.
CAN in Automation CiA
CiA is the international users' and manufacturers' group that
develops and supports higher-layer protocols.
device profile −
Collection of device dependent information and functionality
providing consistency between similar devices of the same device
type.
distributed clocks DC
Clock distribution mechanism used to synchronize EtherCAT Slave
Units and the EtherCAT Master Units.
EtherCAT slave controller ESC A controller for EtherCAT slave communication.
EtherCAT slave information ESI
An XML file that contains setting information for an EtherCAT Slave
Unit.
EtherCAT state machine ESM An EtherCAT communication state machine.
EtherCAT Technology Group ETG
The ETG is a global organization in which OEM, End Users and
Technology Providers join forces to support and promote the further
technology development.
index − Address of an object within an application process.
network configuration information −
The EtherCAT network configuration information held by the
EtherCAT master.
object −
Abstract representation of a particular component within a device,
which consists of data, parameters, and methods.
object dictionary OD
Data structure addressed by Index and Sub-index that contains
description of data type objects, communication objects and
application objects.
operational −
A state in EtherCAT communications where SDO communications
and I/O are possible.
PDO communications − An acronym for process data communications.
pre-operational −
A state in EtherCAT communications where only SDO
communications are possible without being able to perform I/O.
Process data −
Collection of application objects designated to be downloaded
cyclically or acyclically for the purpose of measurement and control.
process data communications −
One type of EtherCAT communications that uses process data
objects (PDOs) to exchange information in realtime with a fixed
cycle. This is also called PDO communications.
Process data object PDO
Structure described by mapping parameters containing one or
several process data entities.
Receive PDO RxPDO A process data object received by an EtherCAT Slave Unit.
safe operational −
A state in EtherCAT communications where only SDO
communications and reading input data from slaves are possible.
Outputs from slaves are not performed.
SDO communications −
One type of EtherCAT communications that uses service data
objects (SDOs) for communicating information when required.
service data object SDO
CoE asynchronous mailbox communications where all objects in the
object dictionary can be read and written.
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