Baumer GK473 User Manual

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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