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Quick Start User Guide

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1. If the GW 7433D is online and work normally the GW 7433D Utility tool will display the MappingModules window Shown in the following figure i Lontiporation GW 7433D If Length MAX m 100 m 320 SYNC 04255 SYNC Time ma Etherne Porameters Lk p E i Connect to the CANopen slave devices with the GW 7433D 1 gt Select the device amount of CANopen slaves Maximum amount of CANopen slaves 10 gt The GW 7433D ID number show in the 7 LED GW 7433D MODBUS TCP CANopen Gateway Quick Start User Guide Version 1 0 July 2008 3 gt Select the baud rate of CANopne bus gt Change the GW 7433D IP MASK or Gateway gt When user finish from step 1 to step 4 please click the button and the CANopenDeviceSetting window will be pop up then user can set the CANopen slave device parameters into the GW 7433D step4 Setting the RxPDO TxPDO RxSDO and TxSDO of CANopenDeviceSetting window As follow figure 1 TxPDO Setting w ANopenDevicesething TxPDO Setting Hex APDO Setting Hex SS 1 a ie aa es a is a gt Device Number 1 ND pr ID 5 2 Module ID 1 64 1 Li 3 gt Guarding Time ms 500 gt It is the code name of this CANopen salve in GW 7433D gt Setting the CANopen slave device s station s ID gt Set the guarding time of the CANopen slave gt Key in the PDO COB ID in hex format of th
2. starting the GW 7433D gateway users need to configure the parameters of it via the Configuration Wizard and GW 7433D Utility tools The details of this procedure are shown below For more information about setting steps please refer to section 5 of the GW 7433D s user s manual Step1 Configure the network parameters via Configuration Wizard Configure Wizard V 1 2 0 COM status Host PE Operation comi i5200 IP Host IP Step 4 Connect COM1 COM2 of PC mecano Ned Mask Host Mask to COM of the 71S9E 40006 l 5 Step 5 lose Lateway Host Gateway Press the Open button a4 Backward Forward gt gt 188E Setting Origin gt 188E Setting Recomend IP IP IP Enter IP Mask Mask Mask Enter blask OOOO Corie Gateway Gateway O Gateway Enter Gateway Exi xit To Use the Configuration Wizard you must first install PCDiag 8000CD Napdos 7188e T CP PCDiag Setup Setup exe GW 7433D MODBUS TCP CANopen Gateway Quick Start User Guide Version 1 0 July 2008 2 Step2 After configuring the network setting of the GW 7433D users can use the GW 7433D Utility tool to configure it Step3 Click the Connect button to connect with the GW 7433D These steps are shown in the following figure Figure Connection setting of GW 7433D
3. GW 7433D MODBUS TCP Server CANopen Master CEAI Quick Start User Guide 1 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 1 87123 Figure Example of the CANopen network GW 7433D MODBUS TCP CANopen Gateway Quick Start User Guide Version 1 0 July 2008 1 2 Hardware Installation Step1 Connect the R Vs and B GND pins of the GW 7433D module to the DC power supply 10 30VDC Ethernet 10 100 Base T 10V 30V DC Step3 Connect the Ethernet ports of the GW 7433D and the PC to the hub with standard network cable respectively Step4 Connect the CAN ports of theGW 7433D with CANopen slave devices 3 Configure the GW 7433D Before
4. he Modbus TCP table gt The DO Mapping tab is present the DO register mapping of CANopen slave device to the Modbus TCP GW 7433D MODBUS TCP CANopen Gateway Quick Start User Guide Version 1 0 July 2008 7 2 gt The column is Modbus TCP DO address the row range is 0 63 gt The row is CANopen slave device s data byte address mapping to Modbus TCP address gt The row is CANopen slave device s data byte address mapping to Modbus TCP address 5 gt Close the ShowMapping window The DI Mapping Al Mapping and AO Mapping of mapping type the same as the DO Mapping of mapping type In these tabs the PDO and SDO arrayal of bytes are form PDO bytes to SDO bytes When user over view the ShowMapping window finish Plase close the ShowMapping window when user close it then the GW 7433D Utility will display the MappingModules window then user have to close the MappingModules window the GW 7433D Utility will display the GW 7433D Utility ver 1 0 0 window and click the Disconnect with GW 7433D button to close the window to finish the GW 7433D Utility setting As follow figure w Mapping Modules Baud Rate bp er 1 0 0 Length MAX crags Note Repeater i ii ey SYNC 0 255 Sirsa SYNC Time Ethernet Para g IP F C MASK l Gateway l Save All Setting Close the GW 7433D Utility setting GW 7433D MODBUS TCP CANopen Gate
5. is CANopen slave gt Set the RTR mode In the TxPDO is 1 and RxPDO is 0 gt Select the length of PDO data Users have to select the correct DLen for each PDO otherwise some error will happen on the GW 7433D In this case users have to reset the parameters by checking the item Initialize module shown on the figure Connection setting of GW 7433D 7 gt Select the type of data If DI is selected this field will present P_DIx If Al is selected this field will present P_Aix The letter P means PDO DI or Al indicate the type of data The x means the number of data Note The unit of DI is one byte Al is two bytes 8 gt Delete button If users want to delete the PDO configuration click this button GW 74383D MODBUS TCP CANopen Gateway Quick Start User Guide Version 1 0 July 2008 4 1 gt Please move the mouse to NO column and select user want to delete row then click It 2 gt When user finishes the 1 step then click the Delete button 2 RXxPDO Setting User can set the RxPDO parameters by TxPDO s way as follow figure note the Cycle column select always NO 3 Read TxSDO Setting Key in the index in hex format and subindex in hex format of the object GW 74383D MODBUS TCP CANopen Gateway Quick Start User G
6. uide Version 1 0 July 2008 5 of the CANopen slave and select the data type to be DI or Al value Then it will present S_DIx or S_Alx The letter S means SDO DI or Al indicates the type of data The x means the number of data Note The unit of DI is one byte Al is two bytes r FFT airg eel Ss iHe AADI S m Babake IDEA K Diirbrg aeia o Woa ona 1 Daming Teima sug 4 Write RxSDO Setting User can set the RxSDO parameters by TxSDO s way as follow figures Module IDII E 1 Guarding Timafma 500 9 gt Exit the CANopenDeviceSetting window Step4 When exit the CANopenDeviceSetting window the MappingModules window Will pop up again as follow figure GW 7433D MODBUS TCP CANopen Gateway Quick Start User Guide Version 1 0 July 2008 6 Langth MAX m 100 0 22000 Then user can click the Save All Setting button to write the parameters into the GW 7433D s EEPROM and the GW 7433D will auto run the firmware to communication with CANopen slave devices After finish the step of above steps the ShowMapping window will be display As follow figure w Show Mapping E E Ed coN DI Mapping Al Mapping AO Mapping aap odbusAdtoss Jeven Je Be Bae Bot yes a Bue re firo spor T ii i jj i m 1 E e i eee ee e la CANopen slave device mapping to t
7. way Quick Start User Guide Version 1 0 July 2008 8

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