Overview 07/06 Danaher Motion
6 Initial Release M-S2-021-11
2.3.3. E
XTENDED
D
ATA
T
YPES
Extended data types are derived from basic data types and mixed data types. The types of extended data that
are supported are defined below.
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
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
2. 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.
The S200 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
2.4.1. N
ETWORK
M
ANAGEMENT
O
BJECTS
(NMT)
The NMT telegram looks like this:
NMT Master
Start Remote Node
COB-ID = 0
request
cs = command specifier
indication
indication
NMT Slave(s)
cs
NODE
ID
0
Data byte
1
