6.3.3 Extended data types
Extended data types are derived from basic data types and mixed data types. The types of extended data that
are supported are defined below.
6.3.3.1 Octet String
The data type OCTET_STRING is defined with the data type ARRAY. Length is the length of the octet string.
ARRAY[length] OF UNSIGNED8 OCTET_STRINGlength
6.3.3.2 Visible String
The data type VISIBLE_STRING can be defined with the data type UNSIGNED8 or the data type ARRAY. Per-
missible values are 00h and the range from 20h to 7Eh. The data are interpreted as 7 bit ASCII code (as per ISO
646-1973(E)). Length is the length of the visible string.
UNSIGNED8 VISIBLE_CHAR
ARRAY[length] OF VISIBLE_CHAR VISIBLE_STRINGlength
6.4 Communication Objects
Communication objects are described with the help of service elements and protocols. Two basic types of serv-
ice elements are used.
l Unconfirmed services PDO
l Confirmed services SDO
All services require faultless operation of the Data Link and Physical Layer.
AKD supports communication objects that are described in detail in the following sections:
l Network Management Objects (NMT)
l Synchronization Object (SYNC)
l Emergency Object (EMCY)
l Process Data Object (PDO)
l Service Data Object (SDO)
l Nodeguard/Heartbeat
AKD CANopen | 6 CANopen Communication Profile
Kollmorgen™ | November 2012 31
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