A-19
A-2 EtherCAT Terminology
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A
Appendix
A-2 EtherCAT Terminology
Use the following list of EtherCAT terms for reference.
Term
Abbrevia-
tion
Description
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 Subindex that contains
description of data type objects, communication objects and
application objects.
service data object SDO CoE asynchronous mailbox communications where all objects
in the object dictionary can be read and written.
index − Address of an object within an application process.
subindex − Sub-address of an object within the object dictionary.
process data − Collection of application objects designated to be transferred
cyclically or acyclically for the purpose of measurement and
control.
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.
Transmit PDO TxPDO
A process data object sent from an EtherCAT slave.
sync manager SM Collection of control elements to coordinate access to
concurrently used objects.
distributed clock DC Method to synchronize slaves and maintain a global time base.
device profile − Collection of device dependent information and functionality
providing consistency between similar devices of the same
device type.
fieldbus memory management unit FMMU Single element of the fieldbus memory management unit: one
correspondence between a coherent logical address space
and a coherent physical memory location.
physical device internal interface PDI A series of elements to access data link services from the
application layer.
CAN in Automation CiA CiA is the international users’ and manufacturers’ group that
develops and supports higher-layer protocols.
CAN application protocol over
EtherCAT
CoE A CAN application protocol service implemented on EtherCAT.
EEPROM EEPROM Electrically erasable PROM.
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.
EtherCAT slave controller ESC A controller for EtherCAT slave communication.
EtherCAT state machine ESM An EtherCAT communication state machine.
EtherCAT slave information ESI An XML file that contains setting information for an EtherCAT
slave.
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