ICPDAS I-7530A-MR User Manual

I-7530A-MR Modbus RTU to CAN Converter User’s Manual (Version 1.07, 06/2016) ------------- 1

User’s Manual

Warranty

All products manufactured by ICP DAS are under warranty regarding
defective materials for a period of one year from the date of delivery to the
original purchaser.

Warning

ICP DAS assumes no liability for damages resulting from the use of this
product. ICP DAS reserves the right to change this manual at any time without
notice. The information furnished by ICP DAS is believed to be accurate and
reliable. However, no responsibility is assumed by ICP DAS for its use, or for
any infringements of patents or other rights of third parties resulting from its use.

Copyright

Copyright 2016 by ICP DAS. All rights are reserved.

Trademark

The names used for identification only may be registered trademarks of

their respective companies.

The I-7530A-MR Modbus RTU to CAN

Converter

I-7530A-MR Modbus RTU to CAN Converter User’s Manual (Version 1.07, 06/2016) ------------- 2

Table of Contents

1. Introduction ..................................................................................................................... 4

1.1 Features ....................................................................................................... 6

1.2 Specifications .............................................................................................. 7

2. Hardware .......................................................................................................................... 9

2.1 Block Diagram ........................................................................................... 10

2.2 Pin Assignment ......................................................................................... 11

2.3 Hardware connection ................................................................................ 12

2.3.1 CAN port connection .................................................................................. 12

2.3.2 Serial port connection ................................................................................ 13

2.4 Terminator Resistor Settings .................................................................... 14

2.5 Init / Normal Dip-switch ............................................................................. 15

2.5.1 Firmware Update Mode ............................................................................. 15

2.5.2 Firmware Operation Mode ......................................................................... 17

2.5.3 Module Configuration Mode ....................................................................... 18

2.6 LED Indication ........................................................................................... 18

2.7 Cable Selection .......................................................................................... 20

3. Software Utility .............................................................................................................. 21

3.1 Install the UART2CAN Utility .................................................................... 22

3.2 Configure the module parameters ........................................................... 25

3.2.1 Connect to the I-7530A-MR module with UART2CAN Utility ..................... 25

3.2.2 Select the communication mode ................................................................ 26

3.2.3 Set the COM port parameters .................................................................... 27

3.2.4 Set the CAN parameters ............................................................................ 28

3.2.5 Set the “Pair Connection” parameter ......................................................... 28

3.2.6 Set the “Modbus Slave” parameter ............................................................ 29

3.2.7 Configuration of default value .................................................................... 30

3.2.8 Load/Save the parameter configuration ..................................................... 31

3.3 CAN Filter Configuration .......................................................................... 32

3.3.1 Create New CAN Filter .............................................................................. 32

3.3.2 Download a existed CAN Filter file ............................................................ 35

3.3.3 Read I-7530A-MR CAN Filter Configuration .............................................. 36

3.4 Pair-connection Mode Description .......................................................... 37

3.5 Testing the I-7530A-MR module ............................................................... 43

3.5.1 Normal mode ............................................................................................. 45

3.5.2 Pair Connection Mode ................................................................ ............... 47

3.5.3 Modbus Slave Mode .................................................................................. 48

4. Command list (Only for normal mode) ........................................................................ 50

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4.1 tIIILDD…[CHK]<CR> .................................................................................. 52

4.2 TIIIL[CHK]<CR> .......................................................................................... 52

4.3 eIIIIIIIILDD…[CHK]<CR> ............................................................................ 53

4.4 EIIIIIIIIL[CHK]<CR> .................................................................................... 53

4.5 S[CHK]<CR>............................................................................................... 54

4.6 P0BBDSPCR[CHK]<CR> ........................................................................... 55

4.7 P1B [CHK]<CR> ......................................................................................... 58

4.8 P2BBBBB[CHK]<CR> ................................................................................ 59

4.9 RA[CHK]<CR> ............................................................................................ 60

4.10 General Error code for all command ....................................................... 61

5. Modbus Slave Mode ...................................................................................................... 62

5.1 Supported Modbus Functions .................................................................. 64

5.2 Modbus Address ....................................................................................... 64

5.2.1 Using Modbus RTU command to get a CAN Message .............................. 79

5.2.2 Using Modbus RTU command to send a CAN message ........................... 81

5.2.2.1 Using function Code 10

hex

to send a CAN message ...................... 81

5.2.2.2 Using function Code 06

hex

to send a CAN message ...................... 83

5.2.3 Using Modbus RTU command to get a Specific CAN Message................. 86

5.2.4 Using Modbus RTU command to configure module .................................. 87

5.3 Modbus Exception Codes ......................................................................... 89

6. Modbus Master Mode ................................................................................................... 90

6.1 Supported Modbus Functions .................................................................. 90

6.2 IO Memory Size .......................................................................................... 91

6.3 Configuration and Operation .................................................................... 91

6.3.1 Modbus Read Configuration ...................................................................... 92

6.3.1.1 Modbus Read Command.................................................................. 93

6.3.1.2 Response CAN Message Configuration ......................................... 96

6.3.2 Modbus Write Configuration ...................................................................... 99

6.3.3 Common Configuration ............................................................................ 103

7. Troubleshooting .......................................................................................................... 106

I-7530A-MR Modbus RTU to CAN Converter User’s Manual (Version 1.07, 06/2016) ------------- 4

1. Introduction

The I-7530A-MR is helpful for exchanging the data between the RS­232/485/422 devices and the CAN devices. It supports four
communication modes: “Normal”, “Modbus Slave” , “Pair connection”, and
“Modbus Master” (firmware version v1.11 or later).
In the Normal mode, the I-7530A-MR is designed to unleash the power of
CAN bus via RS-232/485/422 communication method. It accurately
converts ASCII format messages and CAN messages between RS­232/485/422 and CAN networks. This mode let you to communicate with
CAN devices easily from any PC or programmable devices with RS­232/485/422 interface.

In the Modbus Slave mode, it allows a Modbus RTU master to
communicate with CAN devices on a CAN network. The following figure
shows the application architecture in this mode.

Figure 1-1: The application architecture in the Modbus Slave mode.

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In the pair-connection mode, this module provides the transparent
communication between the RS-232/485/422 devices via CAN bus. The
application architecture may be as follows.

Figure 1-2: The application architecture in the pair-connection mode.

In the Modbus Master mode, it allows many Modbus RTU slaves to
communicate with CAN devices on a CAN network. The following figure
shows the application architecture in this mode.

Figure 1-3: The application architecture in the Modbus Master mode.

I-7530A-MR Modbus RTU to CAN Converter User’s Manual (Version 1.07, 06/2016) ------------- 6

1.1 Features

 RoHS Design
 Fully compatible with ISO 11898-2 standard
 Programmable CAN bus baud rate from 10 kbps to 1 Mbps or user-

defined baud rate

 Max transmission speed of RS-232/485/422 port up to 230400 bps
 Support CAN bus acceptance filter configuration
 Support firmware update via RS-232
 Utility tool for module configuration and CAN bus communication

testing

 Built-in jumper to select 120Ω terminator resistor
 CAN buffer: 128 data frames; UART buffer: 256 bytes.
 Power, data flow and error indicator for CAN and UART status
 Hardware Watchdog design
 Allow special ASCII commands to send and receive CAN messages

(Normal mode)

 Provide the transparent communication in the RS-232/485/422 port

through the CAN bus (Pair-connection mode)

 In Modbus Slave mode, I-7530A-MR supports function code 0x03,

0x04, 0x06 (firmware version v1.11 or later), and 0x10 of Modbus RTU
command for reading or writing CAN message (Modbus Slave mode).
Besides, function code 0x10 has additional functions for configuring
module.

 Support Modbus Master function (firmware version v1.11 or later).

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1.2 Specifications

UART specification:

 Connector: 14-pin screw terminal connector
 COM1: RS-232: (TxD, RxD, GND)

RS-422: (TxD+, TxD-, RxD+, RxD-)
RS-485: (DATA+, DATA-)

 Baud Rate(bps): 300, 600, 1200, 2400, 4800, 9600, 19200, 38400,

57600, 115200, 230400

 Data/Stop bits: 5, 6, 7, 8 / 1, 2
 Parity bit: None, Odd, Even
 Isolation voltage: 3000 VDC power protection and 2500V

rms

photo-

couple in the UART side

CAN specification:

 CAN interface connector: 9-pin male D-sub (CAN_L, CAN_H,

CAN_GND, and N/A for others)

 CAN Baud Rate(bps): 10 k, 20 k, 50 k, 100 k, 125 k, 250 k, 500 k, 800

k and 1 M (allow user-defined baud rate)

 Isolation voltage: 3000 VDC power protection on CAN side, 3750V

rms

photo-couple on CAN bus

 Terminator Resistor: Jumper for 120Ω terminator resistor
 Support Protocol: ISO-11898-2, CAN 2.0A and CAN 2.0B

Power requirement:

 Unregulated +10V DC ~ +30V DC
 Power consumption: 1.5W
 DIP switch: Init (Firmware Update, Module Configuration) / Normal

(Firmware Operation)

Module specs:

 Dimensions: 72mm x 118mm x 35mm (W x L x H)
 Operating temperature: -25 to 75ºC (-13 to 167ºF)
 Storage temperature: -30 to 80ºC (-22 to 176ºF)
 Humidity: 10 to 95%, non-condensing
 LEDs: PWR LED for power

CAN LED for CAN bus communication
UART LED for UART communication

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Software Utility tool:

 CAN bus baud rate configuration
 CAN acceptance filter configuration
 CAN 2.0A or 2.0B specific selection
 RS-232/485/422 baud rate and data format configuration
 Checksum function selection of the RS-232/485/422 communication
 Communication mode setting
 Function for transmitting or receiving CAN messages

Application:

 Factory Automation
 Building Automation
 Home Automation
 Control system
 Monitor system
 Vehicle Automation

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2. Hardware

Figure 2-1: Hardware profile of the I-7530A-MR

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2.1 Block Diagram

Figure 2-2 is a block diagram illustrating the functions of the I-7530A­MR module. It provides the 3000VDC Isolation in the CAN and UART
interface. And hardware media in RS-232 interface only adopts 3-wire
connection.

Figure 2-2: Block diagram of I-7530A-MR

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2.2 Pin Assignment

Table 2-1: CAN DB9 Male Connector

Pin

Description

1

Not Connect

2

CAN Low

3

CAN Ground

4

Not Connect

5 6 CAN Ground

7

CAN High

8

Not Connect

9

Figure 2-3: Pin Assignment on the I-7530A-MR

Pin

Description

1

RS-485 DATA+

2

RS-485 DATA-

3

No use

4

RS-422 TxD+

5

RS-422 TxD-

6

RS-422 RxD+

7

RS-422 RxD-

8

No use

9

RS-232 RXD

10

RS-232 TXD

11

RS-232 GND

12

No use

13

+Vs(+10 ~ +30 VDC)

14

GND

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2.3 Hardware connection

The I-7530A-MR module supports CAN/Serial port communication, it
offers one CAN interface for CAN network and RS-232/485/422 interfaces
for serial communication.

2.3.1 CAN port connection

The pin assignment of the CAN port of the I-7530A-MR (DB9 male) is
defined in both the CANopen DS102 profile and in appendix C of the
DeviceNet specifications. It is the standard pin assignment for CAN
interface. The hardware connection between the target device and the I­7530A-MR is shown as Figure 2-4.

Figure 2-4: CAN Hardware Wire Connection

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2.3.2 Serial port connection

The I-7530A-MR offers three serial interfaces. It is recommended to
use only one of them at the same time. The following figures describe
these port types and the wiring method for a serial device.

Figure 2-5: RS-232 Wire Connection

Figure 2-6: RS-422 Wire Connection

Figure 2-7: RS-485 Wire Connection

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2.4 Terminator Resistor Settings

According to the ISO 11898 specifications, the CAN Bus network
must be terminated by two terminal resistors (120Ω). They are shown as
following figure.

Figure 2-8: Terminal Resistor

Therefore, the I-7530A-MR module supplies a jumper for activating
the terminal resistor. If users want to use this terminal resistor, please
open the I-7530A-MR cover and use the JP3 to activate the 120Ω terminal
resistor built in the module, as the Figure 2-9. Note that the default setting
is active.

Figure 2-9: Terminal Resistor Jumper

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Enable (default) Disable

Figure 2-10: Terminal resistor JP3 Jumper Position

2.5 Init / Normal Dip-switch

On the back of the I-7530A-MR module, there is a DIP-switch used to
configure the “firmware operation mode”, “firmware update mode” or
“module configuration mode”. The following steps show how to use it.

2.5.1 Firmware Update Mode

Please set the DIP-switch to the “Init” (Initial) position as Figure 2-12,
and then the I-7530A-MR will work in the “Firmware Update Mode” after
resetting the power of the module. In the firmware update mode, users
can update the firmware of the I-7530A-MR module from computer’s RS­232 port via CA-0910 cable, as Figure 2-12~2-14.

Figure 2-12: Init Position of DIP-Switch

I-7530A-MR Modbus RTU to CAN Converter User’s Manual (Version 1.07, 06/2016) ------------- 16

Figure 2-13: CA-0910 Cable

Figure 2-14: Firmware downloads connection

While updating the firmware, users need to execute
“Firmware_Update_Tool.exe”. The following steps show the update
procedure.

[1] Run the Firmware_Update_Tool.exe.
[2] Choose “COM” interface and “COM Port”.
[2] Click “Browser” button to choose the firmware file.

(e.g. I7530AMR_100.fw)

[3] Click “Firmware Update” button to start firmware update process.

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Figure 2-15: I-7530A-MR firmware update process

The I-7530A-MR firmware can be downloaded from

http://ftp.icpdas.com/pub/cd/fieldbus_cd/can/converter/i-7530a-mr/firmware/

The “Firmware_Update_Tool” program can be downloaded from

http://ftp.icpdas.com/pub/cd/fieldbus_cd/can/converter/i-7530a-mr/utility/

2.5.2 Firmware Operation Mode

Please set the DIP-switch to the “Normal” position as Figure 2-16 and
power on the I-7530A-MR module. The module’s PWR LED always
turned on and the others LEDs are turned off. That means the I-7530A­MR module is working in the operation mode. In this mode, users can use
the RS-232/485/422 device to send/receive CAN messages via COM port.

1 2 3

4

6

5

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Figure 2-16: Normal Position of Dip-Switch

2.5.3 Module Configuration Mode

During the module is running in the Firmware Operation Mode, set the
DIP-switch to the “Init” (Initial) position as Figure 2-12 and wait for three
seconds. The module’s PWR LED still turns on and the others LEDs will
flash approximately once per second. That means the I-7530A-MR
module is working in the “Module Configuration Mode”. In this mode,
users can use UART2CAN Utility to configure the communication
parameters and communication modes of the module.

2.6 LED Indication

There are three LEDs to indicate what the state of the I-7530A-MR is

in. The positions of these three LEDs are shown as Figure 2-17.

(1) PWR LED :

It is used to help users with checking if the I-7530A-MR is standby. If
the module is supplied the proper power, the PWR LED is turned on. The
different situations of the module may cause the different blinking display.
The PWR LED is always turned on when the module works in a good
condition. When the Bus-Off error is happened, the PWR LED will blink
every 500 ms until the Bus-Off condition disappears. If the CAN message
can’t be sent out successfully, the PWR LED will blink every 100 ms.

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(2) CAN LED :

It is used to show whether the I-7530A-MR is transmitting/receiving
CAN messages. The CAN LED will blink whenever a CAN message is
sending or receiving.

(3) UART LED :

It is used to show whether the I-7530A-MR is transmitting/receiving
COM messages. The UART LED will blink whenever a COM message is
sending or receiving.

Figure 2-17: LED position of the I-7530A-MR

Table 2-3: LED indication of the I-7530A-MR

LED Name

I-7530A-MR Status

LED Status

ALL LEDs

Firmware Updating Mode

All LED always turned on

Module Configuration Mode

PWR LED always be turned
on and the other LEDs blink
every 1000 ms

PWR LED

No Error

Always turned on

CAN Bus Transmission Fail

Blink every 100 ms

CAN Bus-Off

Blink every 500 ms

Power Failure

Off

CAN LED

Transmission

Blink

Bus Idle

Off

UART LED

Transmission

Blink

Bus Idle

Off

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2.7 Cable Selection

The CAN bus is a balanced (differential) 2-wire interface running over
either a Shielded Twisted Pair (STP), Un-shielded Twisted Pair (UTP), or
Ribbon cable. The CAN-L and CAN-H Wire start on one end of the total
CAN network that a terminator of 120 Ohm is connected between CAN-L
and CAN-H. The cable is connected from CAN node to CAN node,
normally without or with short T connections. On the other end of the
cable again a 120Ω(Ohm) terminator resistor is connected between the
CAN lines. How to decide a cable type, cable length, and terminator
depends on the baud rate in the CAN bus network, please refer to the
following table 2-4.

Figure 2-18: Un-shielded Twisted Pair (UTP)

Table 2-4: Cable selection

Bus speed

Cable type

Cable

Resistance/m

Terminator

Bus Length

50k bit/s
at 1000m

0.75~0.8mm2
18AWG

70 mOhm

150~300

Ohm

600~1000m

100k bit/s
at 500m

0.5~0.6 mm2
20AWG

< 60 mOhm

150~300

Ohm

300~600m

500k bit/s
at 100m

0.34~0.6mm2

22AWG, 20AWG

< 40 mOhm

127 Ohm

40~300m

1000k bit/s
at 40m

0.25~0.34mm2

23AWG, 22AWG

< 40 mOhm

124 Ohm

0~40m

Note: The AWG means a standard method used to measure wire. The

numbering system works backwards from what people would think, the
thicker (heavier) the wire, the lower the number. For example: a 24AWG
wire is thicker/heavier than a 26AWG wire.

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3. Software Utility

The UART2CAN Utility tool can be used to configure the operational
conditions of the I-7530A-MR between the CAN and RS-232/485/422
communications. It also can used to transmit or receive a CAN message

for simple testing. To start the “UART2CAN Utility”, please install the

UART2CAN Utility setup file and run the UART2CAN_Utility.exe file. The
screenshot of the configuration and testing screen are given in the below
figure. The next section will show you how to configure the I-7530A-MR
and test it by using UART2CAN Utility.

Figure 3-1: Configuration and testing screen for UART2CAN Utility.

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3.1 Install the UART2CAN Utility

Step 1: Get the UART2CAN Utiltiy

The software is located at:
Fieldbus_CD:\CAN\Converter\I-7530A-MR\Utility

http://ftp.icpdas.com/pub/cd/fieldbus_cd/can/converter/i-7530a-mr/utility/

Step 2: Install .NET Framework 4 Client Profile component

The UART2CAN Utility tool requires the Windows Installer 3.1 and
the .NET Framework 4 Client Profile components. These components can
be obtained from the web site.

Windows Installer 3.1:

http://ftp.icpdas.com/pub/cd/fieldbus_cd/can/converter/i-7530a­mr/utility/windowsinstaller3_1/

.NET Framework 4 Client Profile:

http://ftp.icpdas.com/pub/cd/fieldbus_cd/can/converter/i-7530a­mr/utility/dotnetfx40client/

Figure 3-2: Setup the Windows Installer and .NET Framework.

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Step 3: Install Utility tool

After installing the .Net Framework components, please run the
UART2CAN Utility setup file.

1. Click the “Next” button to continue.

Figure 3-3: Setup the UART2CAN Utility.

2. Select the installation path of the UART2CAN Utility and click the

“Next” button.

Figure 3-4: Select Installation Folder.

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3. Confirm the installation. Click the “Next” button to start the
installation.

Figure 3-5: Confirm Installation.

4. Installation complete. Click the “Close” button to exit.

Figure 3-6: Installation complete.

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3.2 Configure the module parameters

In this section, we will describe how to configure the communication

parameters of the I-7530A-MR module with the UART2CAN Utility.

3.2.1 Connect to the I-7530A-MR module with UART2CAN Utility

1. Set the Init/Normal switch to the “Normal” position, which is found
on the back of the I-7530A-MR module.

2. Supply the proper electric power (the 10~30 DC volts) to the I­7530A-MR module.

3. Set the Init/Normal switch to the “Init” (Initial) position at least three
seconds.

4. The PWR LED of the I-7530A-MR module will turned on and the
other LEDs will flash approximately once per second. That means
the I-7530A-MR module is working in the configuration mode.

5. Run the UART2CAN Utility software after connecting the PC COM
port and the I-7530A-MR RS-232 port by the cable CA-0910.

6. Select the necessary PC COM port to connect with the I-7530A-MR,
as shown in the following figure. Then click the “Connect” button.

Figure 3-7: The PC’s COM port configuration form.

Note: When the I-7530A-MR is working in the configuration mode, it can

only be communicated by using 115200 baud rate.

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7. Then the I-7530A-MR configuration window will be brought out. The
UART2CAN Utility will show the communication information of the I­7530A-MR module, as shown in the following figure.

Figure 3-8: The configuration form of the I-7530A-MR module.

3.2.2 Select the communication mode

The I-7530A-MR supports four communication modes: “Normal”, “Pair

connection”, “Modbus Slave”,and “Modbus Master Mode”.

In the Normal mode, it accurately converts ASCII format messages
and CAN messages between RS-232/485/422 and CAN interfaces. In the
Modbus Slave mode, it allows a Modbus master to communicate with
CAN devices on a CAN network. In pair-connection mode, this module
provides the transparent communication between the RS-232/485/422
devices via CAN bus. In the Modbus Master mode, this module is worked
as Modbus Master/CAN module. It can communicate with Modbus slave
device via RS-232/485/422.

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Figure 3-9: Select Communication Mode.

3.2.3 Set the COM port parameters

1. When the function “Add Checksum” is set to “Yes”, users need to

communicate to the I-7530A-MR with checksum mechanism. (For

checksum algorithm, please refer to page 51)

2. If the “Error Response” is set to “Yes”, the error code will be

responded when the incorrect communication commands are sent to

the I-7530A-MR.

3. If the “Timestamp Response” is set to “Yes”, the timestamp value will

be responded when the CAN message commands are sent out from

the COM port of I-7530A-MR.
These three parameters above can only use at the “Normal”
communication mode.

Figure 3-10: The COM port of I-7530A-MR configuration.

Select Communication mode

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3.2.4 Set the CAN parameters

Select the communication parameters of the CAN port and check the
“Enable CAN Filter” item to make the CAN filter enable if necessary.
About how to set the CAN Filter, please refer to the section 3.3.

Figure 3-11: The CAN port of I-7530A-MR configuration.

3.2.5 Set the “Pair Connection” parameter

When users select the “Pair Connection” communication mode, the
functions, “End of Command”, “Fixed Tx CAN ID” and “Response with
CAN ID”, are useful. In pair connection mode, all commands written to I­7530A-MR COM port will be transferred to the CAN bus directly. For more
detail information about pair connection mode, please refer to the section

3.4.

Figure 3-12: The configuration for Pair connection.

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3.2.6 Set the “Modbus Slave” parameter

When users select the “Modbus Slave” communication mode, the
functions, “Device ID” and “Specific CAN ID”, are useful. In the “Specific
CAN ID” field, users can set maximum 10 CAN IDs (firmware v1.02 or
later supports 100 CAN ID of CAN messages) which indicate the
corresponding CAN messages to be stored in the specific Modbus Input
Register respectively. In the Modbus Input Register, the register range of
the “Specific CAN ID” occupies the section from 0x0800 to 0x0859. Each
CAN ID will use 9 Modbus input registers.

In Modbus Slave mode, users need to communicate with the I-7530A­MR via using Modbus RTU command. The I-7530A-MR only supports
function code 03/04/06/10 of Modbus RTU commands for reading and
writing CAN messages. For more details about Modbus Slave mode,
please refer to the section 5.

Figure 3-13: The configuration for Modbus Slave mode.

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3.2.7 Configuration of default value

If users click the “Defaults” button, all of the module communication
parameters on the I-7530A-MR will be set to the factory default, which are:

Communication Mode = Normal

RS232/485/422: Baud rate = 115200 kbps
Data Bit = 8
Stop Bit = 1
Parity = None
Add Checksum = No
Error Response = No
Timestamp Response = No

CAN bus: CAN Specification = 2.0A
CAN bus Baud rate = 125 kbps
Enable CAN Filter = unchecked

Pair-connection: End of Command = None
Fixed Tx CAN ID = checked
Response with CAN ID = unchecked

Modbus Slave: Device ID = 1
Specify CAN ID Table = empty