8 CANopen
8.1 Data Types
DC1 Frequency Inverter 10/12 MN04020003Z-EN www.eaton.com 155
8 CANopen
This chapter is intended for automation experts and engineers.
It is expected that readers will be thoroughly familiar with the CANopen field
bus and with how to program a CANopen master controller. In addition, read-
ers must be familiar with how to use the DC1 frequency inverter.
References
[1] CANopen – Application Layer and Communication Profile
CiA Draft Standard DS301, Version 4.02, February, 13, 2002
8.1 Data Types
CANopen has specifications for its own data types. The following types are
used for the DC1 frequency inverter’s CANopen protocol handler.
Table 17: CANopen data types
The following abbreviations are used throughout this chapter:
Name Description Range
Minimum Max Length
UNSIGNED8 8-bit unsigned integer (b7 to b0) 0 255
UNSIGNED16
16-bit unsigned integer (b15 to b0) 0 65535
UNSIGNED32 32-bit unsigned integer (b31 to b0) 0 4294967295
INTEGER8 8-bit signed integer (b7 to b0) –128 127
INTEGER16 16-bit signed integer (b15 to b0) –32768 32767
INTEGER32 32-bit signed integer (b31 to b0) –2147483648 2147483647
RECORD Data structure with fixed number of any types – –
CAN
Controller Area Network
COB ID
Communication Object Identifier
CONST Constant variable (read access only)
EDS Electronic Data Sheets
EMCY
Emergency Object
NMT Network Management
PC Personal Computer
PDO Process Data Object
ROM
Read Only Memory
Rx
Receive
SDO Service Data Object
Tx Transmit
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