Baumer GK473 - Manual (Page 21)

Manual_GK473_CANopen_EN.doc 21/24 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
INIT
Delay 1000 ms
Automatic SPA
recognition
approx. 12 s
PREOPERATION
STOPPED
OPERATIONAL
Power On
or
Reset Node
Boot Up message
CANopen NMT status diagram
Upon gateway switch-on there will be a pause of 1000 ms (SPA init).
Second the gateway will proceed an automatic SPA identifier scan operation and will store all encountered
identifiers in the internal memory. The storing operation may take up to 12 seconds.
Later the gateway will give a boot up message to CAN bus and is in operational status.
This status enables reading and writing of SDO parameters. For PDO parameter request the gateway has to
be put in operational status first.