Baumer GK473 - Manual (Page 16)

Manual_GK473_CANopen_EN.doc 16/24 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
5.6. Error signals
The messages relating to SPA communication are processed as CANopen Abort Messages.
These are subdivided into SPA messages and gateway messages.
• One SPA is giving an error signal after transparent command transfer. For details relating to the
respective messages please refer to the relevant SPA interface description. Present state of the art
are messages indicating “format error” and „CRC error”.
• Time out SUB-Bus A SUB-bus user did not answer within a time window of 100 ms.
Abort Code
0x08000020
• Time Out Gateway The gateway did not reply within one second during SDO transfer.
Abort Code
0x05040000