S300-S700 CANopen | 4 CANopen Communciation Profile
4.3.3 Extended data types
Extended data types are derived from basic data types and mixed data types. The types of exten-
ded data that are supported are defined below.
4.3.3.1 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
4.3.3.2 Visible String
The data type VISIBLE_STRING can be defined with the data type UNSIGNED8 or the data type
ARRAY. Permissible values are 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
4.4 Communication Objects
Communication objects are described with the help of service elements and protocols. Two basic
types of service elements are distinguished:
Unconfirmed services PDO
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:
Network Management Objects (NMT)
Synchronization Object (SYNC)
Emergency Object (EMCY)
Process Data Object (PDO)
Service Data Object (SDO)
Nodeguard
18 Kollmorgen | kdn.kollmorgen.com | December 2019
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