Moog ACV with CANopen bus interface
2 Access over CANopen
Network management state machine (NMT state machine)
B99224-DV018-D-211, Rev. A, October 2018
32
Figure 11: Typical SDO abort message
Description of the different SDO abort codes:
Chapter "8.3 Abort SDO Transfer Protocol", page 279
For detailed informations how the SDO protocol is working, please take a look into the actual CiA 301 CAN
open application layer and communication profile.
2.8.4.1 Object 0x1200: SDO client/server parameter
Value description
2.9 Network management state machine (NMT state machine)
The CANopen NMT state machine is used to control the network communication. The network management
is node-oriented and follows a master/slave structure. It requires one device in the network, which fulfills the
function of the NMT master, the other nodes are NMT slaves. The network management provides the follow-
ing functions:
• Device control services for initialization and start-up of NMT slave nodes that want to take part in the dis-
tributed application.
• Node Guarding of NMT slave nodes.
CANopen
Index
Sub-
index
Parameter name
Data
type
Access
Persis-
tence
Value
range
Default
0x1200
1
CobIdClientServer
UINT32
ro
-
127
0x1200
2
CobIdServerClient
UINT32
ro
-
UINT8
127
Parameter
Description
<CobIdClientServer>
This parameter contains the COB-ID for the receive service data object.
<CobIdServerClient>
This parameter contains the COB-ID for the transmit service data object.
Table 22: Object 0x1200: SDO client/server parameter
The CANopen network management (NMT) state machine must not be mistaken with the device
state machine.
