Sorry, this entry is only available in German.
Author: Torsten Gedenk
CANopen Object Code
To answer the constant question whether Array or Record is 8 or 9, this article provides an explanation of CANopen object codes.
All data of a CANopen device, which are accessible via CANopen, are stored in objects in the object dictionary. The objects have different object codes based on the their internal structure.
An object with the object code ‘variable’ is a single variable like e.g. a variable in the programming language C. It has a data type and various attributes.
An object with the object code ‘array’ is a structured data set like e.g. an array in the programming language C. All elements of this array (sub-index 0 not included) have the same data type.
An object with the object code ‘record’ is a structured data set like e.g. a struct in the programming language C. All elements of this record (sub-index 0 not included) may have different data type.
CANopen Object Code definitions
- 7 – Variable
- 8 – Array
- 9 – Record
A few additional values are listed in the CANopen specification CiA 301.
The object code definitions are called object type in EDS files (CiA 306) and XDD files (CiA 1311).
J1939 CMDT Transport Protocol
CANopen PDO Linking
J1939 Safety is an extension of J1939 which is described in the specification SAE J1939-76. The safety communication can be done in parallel to a normal J1939 transmission in the same network.