CANopen application layer and communication profile
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7.1.4.3 Boolean ....................................................................................................................... 27
7.1.4.4 Void ............................................................................................................................. 27
7.1.4.5 Unsigned Integer ......................................................................................................... 27
7.1.4.6 Signed Integer ............................................................................................................. 28
7.1.4.7 Floating-Point Numbers ............................................................................................... 28
7.1.5 Compound data types ...................................................................................................... 29
7.1.6 Extended data types ........................................................................................................ 30
7.1.6.1 General ........................................................................................................................ 30
7.1.6.2 Octet String .................................................................................................................. 30
7.1.6.3 Visible String ................................................................................................................ 30
7.1.6.4 Unicode String ............................................................................................................. 30
7.1.6.5 Time of Day ................................................................................................................. 30
7.1.6.6 Time Difference ........................................................................................................... 30
7.1.6.7 Domain ........................................................................................................................ 31
7.2 Communication objects ........................................................................................................... 31
7.2.1 General ............................................................................................................................ 31
7.2.2 Process data object (PDO) .............................................................................................. 31
7.2.2.1 General ........................................................................................................................ 31
7.2.2.2 Transmission modes ................................................................................................... 32
7.2.2.3 Triggering modes ......................................................................................................... 33
7.2.2.4 PDO services ............................................................................................................... 33
7.2.2.4.1 General ............................................................................................................... 33
7.2.2.4.2 Service PDO write .............................................................................................. 33
7.2.2.4.3 Service PDO read ............................................................................................... 34
7.2.2.5 PDO protocol ............................................................................................................... 34
7.2.2.5.1 Protocol PDO write ............................................................................................. 34
7.2.2.5.2 Protocol PDO read .............................................................................................. 35
7.2.3 Multiplex PDO (MPDO) .................................................................................................... 35
7.2.3.1 General ........................................................................................................................ 35
7.2.3.2 MPDO address modes ................................................................................................ 35
7.2.3.2.1 Destination address mode (DAM) ...................................................................... 35
7.2.3.2.2 Source address mode (SAM) ............................................................................. 35
7.2.3.3 MPDO service ............................................................................................................. 36
7.2.3.3.1 General ............................................................................................................... 36
7.2.3.3.2 Service MPDO write ........................................................................................... 36
7.2.3.4 MPDO protocol ............................................................................................................ 36
7.2.3.4.1 Protocol MPDO write .......................................................................................... 36
7.2.4 Service data object (SDO) ............................................................................................... 37
7.2.4.1 General ........................................................................................................................ 37
7.2.4.2 SDO services ............................................................................................................... 38
7.2.4.2.1 General ............................................................................................................... 38
7.2.4.2.2 Service SDO download ....................................................................................... 39
7.2.4.2.3 Service SDO download initiate ........................................................................... 39
7.2.4.2.4 Service SDO download segment ........................................................................ 40
7.2.4.2.5 Service SDO upload ........................................................................................... 41
7.2.4.2.6 Service SDO upload initiate ................................................................................ 41
7.2.4.2.7 Service SDO upload segment ............................................................................ 42
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