3.3.3 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.
3.3.3.1 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
3.3.3.2 Visible String
The data type VISIBLE_STRING can be defined with the data type UNSIGNED8 or the data type
ARRAY. Permissible values are 00
h
and the range from 20
h
to 7E
h
. 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
3.4 Communication Objects
Communication objects are described with the help of service elements and protocols. Two basic
types of service elements are distinguished:
l
Unconfirmed services PDO
l
Confirmed services SDO
All services require faultless operation of the Data Link and Physical Layer.
S300/S700 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
CANopen for S300/S700 17
Kollmorgen 11/2018 CANopen communication profile
To Next Page
Loading...
