Moog ACV Series - Object 0 X1200: SDO Client;Server Parameter; Network Management State Machine (NMT State Machine); Figure 11: Typical SDO Abort Message; Table 22: Object 0 X1200: SDO Client;Server Parameter

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 - 0x0600+127
0x1200 2 CobIdServerClient UINT32 ro - UINT8 0x0580+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.