User’s Manual
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Table of Contents
1 General Information ..................................................................................3
1.1 CANopen Introduction ................................................................3
1.2 CANopen Applications................................................................5
1.3 Module Characteristics ...............................................................6
1.4 Hardware Features.....................................................................7
1.5 Firmware Features .....................................................................7
1.6 Specifications .............................................................................8
1.7 Typical Applications ....................................................................9
1.8 Modbus TCP/RTU to CANopen gateway .................................10
2 Hardware ................................................................................................12
2.1 Pin Assignment......................................................................... 12
2.1.1 RS-232 & RS-485 & Power supply interface .....................13
2.1.2 Connect to CANopen devices ...........................................14
2.1.3 Ethernet connection ..........................................................15
2.1.4 Terminator resistor settings ...............................................16
2.2 LED Indication ..........................................................................18
2.2.1 Power LED ........................................................................18
2.2.2 Module Status indicator LED .............................................18
MI LED...................................................................................18
CI LED...................................................................................18
ERR LED & ERROR Message show in 7-LED ......................18
2.2.3 5-digits 7-Segment LED Displays......................................19
3 CANopen Interface ................................................................................. 22
3.1 Network Communication ..........................................................22
3.2 Slave Device Communication................................................... 22
3.3 Listen Mode..............................................................................22
3.4 Interaction with Internal Memory ..............................................23
3.5 CAN Status Message ...............................................................24
4 Modbus TCP/RTU Interface....................................................................25
4.1 Commands ...............................................................................25
4.2 Modbus TCP/RTU Addressing..................................................26
4.2.1 I/O Data Addressing ..........................................................26
4.2.2 Special Data Addressing ...................................................26
5 Appendix A – Software............................................................................29
5.1 GW-7433D Utility...................................................................... 29
5.2 Modbus Utility...........................................................................30
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1 General Information
1.1 CANopen Introduction
The CAN (Controller Area Network) is a serial communication protocol,
which efficiently supports distributed real-time control with a very high level of
security. It is an especially suited for networking “intelligent” devices as well as
sensors and actuators within a system or sub-system. In CAN networks, there
is no addressing of subscribers or stations in the conventional sense, but
instead, prioritized messages are transmitted. CANopen is one kind of the
network protocols based on the CAN bus and mainly used for machine control
network, such as textile machinery, printing machines, injection molding
machinery, or packaging machines, etc. CANopen is a low level network that
provides connections between simple industrial devices (sensors, actuators)
and higher-level devices (controllers), as shown in Figure 1.1.
Figure 1.1 Example of the CANopen network
CANopen was developed as a standardized embedded network with
highly flexible configuration capabilities. It provides standardized
communication objects for real-time data (Process Data Objects, PDO),
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configuration data (Service Data Objects, SDO), network management data
(NMT message, and Error Control), and special functions (Time Stamp, Sync
message, and Emergency message). Nowadays, CANopen is used in many
various application fields, such as medical equipment, off-road vehicles,
maritime electronics, public transportation, building automation and so on.
Baud rate (bit/s)
10 K 5000m
20 K 2500 m
50 K 1000 m
125 K 500 m
250 K 250 m
500 K 100 m
800 K 50 m
1 M 25 m
Max. Bus length (m)
Table 1.1 The Baud rate and the Bus length
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1.2 CANopen Applications
CANopen is the standardized network application layer optimized for
embedded networks. Its specifications cover the standardized application layer,
frameworks for the various applications (e.g. general I/O, motion control
system, maritime electronics and so forth) as well as device, interface, and
application profiles.
The main CANopen protocol and products are generally applied in the
low-volume and mid-volume embedded systems. The following examples
show some parts of the CANopen application fields. (For more information,
please refer to the web site, http://www.can-cia.org):
● Truck-based superstructure control systems
● Off-highway and off-road vehicles
● Passenger and cargo trains
● Maritime electronics
● Factory automation
● Industrial machine control
● Lifts and escalators
● Building automation
● Medical equipment and devices
● Non-industrial control
● Non-industrial equipment
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1.3 Module Characteristics
“Embedded Internet” and “Embedded Ethernet” are hot topics today.
Nowadays the Ethernet protocol becomes the de facto standard for local area
network. Via Internet, connectivity is occurring everywhere, from home
appliances to vending machines to testing equipment to UPS…etc. Using
Ethernet for network in industrial area is appealing because the required
cabling is already installed.
The GW-7433D from ICP DAS is a solution that provides a
communication protocol to transfer the Modbus TCP/RTU to CANopen
protocol and solves a mission-critical problem, connecting an existing
CANopen network to Ethernet-base PLCs and PC-based configuration and
monitor system. It enables CANopen networks to be coupled together over the
Internet/Ethernet, whereby remote monitoring and control is possible.
The GW-7433D can be a CANopen master device in the CAN bus on
the CANopen network. On the Ethernet network, it acts as a Modbus TCP
server of Modbus RTU slave. Users can use Modbus TCP/RTU class 0, class
1 and partial class 2 functions to communicate with it. In addition, we also
provide Utility software for users to configure their device parameters for the
GW-7433D. The following figure shows the application architecture for the
GW-7433D.
Figure 1.2 System application
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1.4 Hardware Features
● 80186, 80MHz CPU, or compatible
● NXP SJA1000 CAN controller with 16 MHz clock
● NXP 82C250 CAN Transceiver
● 1K VDC isolation on CAN side.
● Support CAN specification 2.0A.
● Jumper select 120Ω terminator resistor for CAN channel
● 10/100 BASE-T DM9000AE compatible Ethernet Controller
● Support one RS-232 port, one RS-485 port and one CAN port
● Built-in self-tuner ASIC controller on RS-485 port
● 7-segment LED display.
● MI LED , CI LED , ERR LED
1.5 Firmware Features
● Allow to export/import the configuration of the GW-7433D to/from an
xml file.
● Programmable CANopen transfer rate 10 k, 20 k, 50 k, 125 k, 250 k,
500 k, 800 k, 1 Mbps.
● Support up to 10 CANopen slave devices.
● Support maximum I/O: 3072 DI channels, 3072 DO channels, 640 AI
channels, and 640 AO channels.
● Support message numbers: TxPDO+RxPDO+TxSDO+RxSDO are
more than 120.
● Allow on-line adding device into CANopen network.
● Support boot-up auto communicate with slave devices.
● Provide CAN off-line detection.
● Support Node Guarding protocol and Heartbeat Consumer protocol.
● Provide Boolean, byte, word, and double word data types.
● Mapping the CANopen object to the Modbus address to by utility tool.
● Support Modbus TCP server or Modbus RTU slave functions at the
same time.
● Allowed multi-Modbus TCP client access simultaneously.
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1.6 Specifications
● RS-232 specification (COM1):
○ Communication speed: 115200 bps Max.
RS-232: TXD, RXD, RTS, CTS, GND.
○
○ Non-isolation.
○ Firmware upgrades port.
● RS-485 specification (
○ Communication speed: 115200 bps Max.
○ D2+, D2-.
○ Non-isolation.
○ Self-tuner ASIC inside.
● Ethernet specification:
○ 10/100 Base-T.
● CAN specification:
○ CAN signal support: CAN_H, CAN_L.
○ CAN bus interface: ISO 11898-2, screw terminal connector.
○ Isolation voltage: 1K V
● Power requirement:
○ Unregulated +10V
○ Power reverse protection, Over-Voltage brown-out protection.
○ Power consumption: 3W.
● Module specification:
○ Dimensions: 123mm x 64.5mm x 19.6mm.
○ Operating temperature: -25 to 75ºC.
○ Storage temperature: -30 to 80ºC.
○ Humidity: 10 to 90%, non-condensing.
○ LEDs: Power, MI, CI, Err, and 5-digits 7 segment LED displays.
● Software Utility tool:
○ Online adding/removing CANopen devices via Ethernet.
○ Get/Set Modbus TCP/RTU input/output memory address.
○ Provide CANopen I/O mapping table.
○ Support TxPDO/RxPDO/TxSDO/RxSDO setting.
● Application:
○ Factory Automation.
○ Building Automation.
○ Control system.
○ Monitor system.
○ Vehicle Automation.
COM2):
DC ~ +30VDC.
DC isolation on the CAN side.
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1.7 Typical Applications
The GW-7433D is designed as a Modbus TCP server or Modbus RTU
Slave to CANopen master Gateway. It allows you to access the CANopen
slave device by using Modbus commands. A GW-7433D is able to link up to 10
CANopen slave devices. Before using the GW-7433D, it is needed to use the
GW-7433D Utility to set the GW-7433D IP address and COM port. Typical
application architecture is shown below.
Figure 1.3: Application of GW-7433D
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