Beckhoff AX2000 CANopen communication profile Manual do Utilizador descarregar pdf (Página 18)

3.3.3 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.

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

and the range from 20

to 7E

. 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:

Unconfirmed services

Confirmed services

All services require faultless operation of the Data Link and Physical Layer.

AX2000/2500 supports Communication Objects that are described in detail in the following sections:

Network Management Objects (NMT)

Synchronization Object (SYNC)

Time Stamp Object (TIME)

Emergency Object (EMCY)

Process Data Object (PDO)

Service Data Object (SDO)

Nodeguard

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