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1. D2 o Non isolation o Self tuner ASIC inside Ethernet specification o 10 100 Base T CAN specification o CAN signal support CAN_H CAN_L o CAN bus interface ISO 11898 2 screw terminal connector o Isolation voltage 1K Voc isolation on the CAN side Power requirement o Unregulated 10Vbc 30Vbc o Power reverse protection Over Voltage brown out protection o Power consumption 3W Module specification Dimensions 123mm x 64 5mm x 19 6mm Operating temperature 25 to 75 C Storage temperature 30 to 80 C Humidity 10 to 90 non condensing o LEDs Power MI Cl Err and 5 digits 7 segment LED displays Software Utility tool o Online adding removing CANopen devices via Ethernet o Get Set Modbus TCP RTU input output memory address o Provide CANopen I O mapping table o Support TxPDO RxPDO TxSDO RxSDO setting Application Factory Automation Building Automation Control system Monitor system Vehicle Automation Oo Oo 68 0 Oo O 8 Q GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 8 Version 2 0 0 Jul 2011 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 archite2. Example 2 Reset the CANopen slave device Assume the GW 7433D connects 2 CANopen slaves and with total 8 AO channels When users want to reset 2 CANopen slave users can send the follow Modbus TCP command to the GW 7433D and it will send a CANopen reset command to the slave Query gt 120006 01 06 00 09 00 01 for Big endian data type Response gt 120006 010600 09 00 01 for Big endian data type The address 00 09 is the 2 CANopen slave reset command address because the 00 08 is 1 CANopen slave reset command address and the 00 00 00 07 are the address for AO channel 0 7 The command 00 01 is to reset 2 CANopen slave GW 7433D Modbus data support two kinds of the word data type Little endian and Big endian and the Big endian type is the default type The different type will influence the data byte order Users can select this type through GW 7433D Utility GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 28 Version 2 0 0 Jul 2011 5 Appendix A Software 5 1 GW 7433D Utility The GW 7433D utility is a setting tool for the GW 7433D configuration The details about the GW 7433D utility please refer to the GW 7433D utility user manual Users can get the utility tool from the following positions Path in product CD CD Fieldbus_cd canopen gateway gw 7433d utility Download website http ftp icpdas com pub cd fieldbus_cd canopen gateway gw 7433d utility Get the utility manual for the following
3. Protocol identifier 0 Byte 3 Protocol identifier 0 mein Byte 4 Length field upper byte 0 1 E Cae Start Time EXIT Program MBRIU 10 7 COMI Protoce iption FC1 Read multiple coils status Oxxxx for DO Net ID Station number Fc 01 Byte 23 Reference number Byte 4 5 Bit count 0 Time Start Time Stop ds we with CRC Exit Program GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 30 Version 2 0 0 Jul 2011
4. gt EE o LU Figure 3 1 Internal Memory Table of GW 7433D GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 23 Version 2 0 0 Jul 2011 3 5 SJA1000 CAN Status Users can use the Modbus command to get the CAN status of the SJA1000 CAN controller which is applied in GW 7433D The meaning of each bit of the CAN status is as follow table 3 1 About how to get the CAN status please refer to the section 4 2 2 Special Data Addressing Bit Name Value Function Bus Status bus off the SJA1000 is not allowed to access the CANopen Bit 7 network 0 bus on the SJA1000 is ready to access the CANopen network Error Status error at least one of the error counters has reached or exceeded Bit 6 the CPU warning limit 0 ok both error counters are under the warning limit Transmit Status 1 transmit the SJA1000 is transmitting a message gab 0 idle no transmit message is in progress Receive Status 1 receive the SJA1000 is receiving a message ioe 0 idle no receive message is in progress Transmission complete the last requested transmission has been successfully Complete Status completed Bit 3 incomplete the previously requested transmission is not yet completed Transmit Buffer 1 released the CPU may write a message into the transmit buffer Bit 2 Status locked the CPU cannot access the transmit buffer a message is l waiting for transmission or is already in proc
5. n is the CANopen slave device number The number range is 1 10 3 N is the total CANopen slave device amount 4 About the error status please refer to the table 2 6 5 About the CAN status please refer to the table 3 1 6 Writing the address Max AO address n to 1 will let the GW7433D send a CANopen reset command to n CANopen slave 7 Writing the address Max AO address N 1 to 1 will let the GW 7433D reboot 8 Writing the address Max AO address N 2 to 1 will let the GW 7433D into listen mode If users want to recover to the normal mode please write it to 0 About the details of Listen Mode please refer to section 3 3 GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 27 Version 2 0 0 Jul 2011 Example 1 Get the CANopen slave device s error status Assume that the GW 7433D connects 2 CANopen slaves and with total 10 Al channels users can send the follow Modbus TCP command to get these two CANopen slaves status Query gt 120006 010400 0A 00 02 Response gt 120006 010404 00 00 00 2F for Big endian data type The green word 00 OA is the address for the CAN error status because the address 00 00 00 09 are for Al data The orange word 00 02 indicates getting the error status of two slaves The blue word is 1 CANopen slave s error status and 00 00 means no error The red data is 2 CANopen slave s error status and 00 2F 47 means the slave has disconnected
6. positions Path in product CD CD Fieldbus_cd canopen gateway gw 7433d manual Download website http ftp icpdas com pub cd fieldbus_cd canopen gateway qw 7433d manual W GW 7433D Utility Connect Save Export Import Mapping Test About EAEE Normal Setting CANopen Device 1 Modbus Station ID 1 CANopen Device Amount 1 E CANopen Baud Rate kbps 15 m Length Max 500 m 1640 fi Advance Setting Ethemet Data Tyre Modbus RTU P 192 168 255 52 Mask 255 255 0 0 Gateway 192 168 0 254 Socket Timeout 86400000 ms GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 29 Version 2 0 0 Jul 2011 5 2 Modbus Utility The Modbus utility includes the MBTCP and MBRTU tools The MBTCP is a Modbus TCP client with source code in VB6 The MBRTU is a Modbus RTU master with source code in VB6 These two tools are designed by ICP DAS and they are helpful when users want to diagnostic the Modbus TCP server devices or Modbus RTU slaves Users can free download the utilty from the following web site http Awww icpdas com products PAC i 8000 modbus web download htm MBTCP Ver 1 1 4 ModbusTCP Protocol Description z 192 168 255 1 FC1 Read multiple coils status Oxxxx for DO 5 Prefixed 6 bytes of Modbus TCP protocol or po st sS Byte 0 Transaction identifier copied by server usually 0 Byte 1 Transaction identifier copied by server usually 0 Connect Ee Byte 2
7. 2 168 255 1 C Ex 125 kbps 1 e Block 2 i ka m Com 2 Baud rate _ Ex 115 2 kbps E Block 1 i e Com 1 Baud rate _ Ex 115 2 kbps Figure 2 7 The meaning of the 7 segment LED The information groups of the GW 7433D are as the following list Group ID 11111 IP information of this GW 7433D Group ID 22222 baud rate of all ports Group ID 33333 configuration of GW 7433D station number Group ID 44444 client connection information and error state of this GW 7433D The IP information format of the GW 7433D is given as follows e Group ID of 5 digit LED 11111 e LED 1 indicator can be 1 or 2 or 3 or 4 for 4 sections of IP address e LED 2 5 IP address GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 19 Version 2 0 0 Jul 2011 The LED shows Group ID first and then shows its IP address as the figure 2 7 If users change the IP address the value shown on the LED will be changed immediately The default IP address is 192 168 255 1 and the default Mask is 255 255 0 0 The baud rate of the COM1 COM2 and CAN port are given as follows e Group ID of 5 digit LED 22222 e LED 1 port number 1 for COM1 2 for COM2 3 for CAN port e LED 2 5 baud rate This value needs to multiply by 1000 For COM1 and COM2 the range is from 1 2 115 2 means 1 2 kbps 115 2 kbps For CAN port the range is from 10 1000 means 10 kbps 1000 kbps The configuration of the communication is given as fo
8. GW 7433D MODBUS TCP Server amp RTU Slave to CANopen Master 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 2007 2008 by ICP DAS All rights are reserved Trademark The names used for identification only may be registered trademarks of their respective companies GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 1 Version 2 0 0 Jul 2011 Table of Contents 1 General MrOrmatiOnis sss eee eee 3 1 1 CANopen Introduction s sss sse eee 3 1 2 CANopen Applications ccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 5 1 3 Module Characteristics eee 6 1 4 Hardware Features 7 1 5 Firmware l 7 1 6 Specifications sese 8 1 7 VOICI FAB PING ALLO la 9 1 8 Modbus TCP RTU to CANopen gateway sees eee 10 2 HardWare peiro a a a a a e a a a a a 12 2 1 PiN PS SVU Moston es hr aa a ond ad eral ce are 12 2 1 1 RS 232 amp RS 485 amp Power s
9. ccurring 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 Modbus RTU command protocol Modbus TCP command protocol a ant CANopen protocol t Figure 1 2 System application GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 6 Version 2 0 0 Jul 2011 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 specificatio
10. cture is shown below as Ethernet GW 7433D 10 100M Ethernet 10 100M Ethernet GW 7433D 10 100M CANopen LN Slave Application for Modbus TCP GW 7433D CANopen Slave d C C V q GW 7433 E CANopen Slave Application for Modbus RTU Figure 1 3 Application of GW 7433D GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 9 Version 2 0 0 Jul 2011 1 8 Modbus TCP RTU to CANopen gateway The GW 7433D provides centralized data storage Internal Memory This storage is shared by the CANopen and Modbus TCP RTU network Data come from one communication interface will be placed into the Internal Memory then another communication interface can get the data from the memory area The concept of the internal memory is shown below GW 7433D Internal Memory Input Data Input Data Input Data Area Ials WadONVO Output Data Output Data Output Data Area Ethernet Modbus TCP amp RTU Figure 1 4 Internal Memory Table of GW 7433D The GW 7433D acts as a Modbus TCP server or Modbus RTU slave to CANopen master gateway Using the module users don t need to take care of the detail of the CANopen protocol The module will implement the CANopen protocol automatically Therefore it can efficiently reduce the complexity of building a CANopen network When users would like to use SCADA software to control and monitor the CANopen network the GW 7433D provides a solution
11. ening mode the input data DI Al of the one in the listen mode will be the same as the one in normal mode Therefore users can use this function to be the second monitor of the CANopen network GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 22 Version 2 0 0 Jul 2011 3 4 Interaction with Internal Memory When the GW 7433D works it monitors the CANopen network and updates the Al or DI data in the corresponding internal memory if these data responds from the CANopen slaves automatically The GW 7433D also uses RTR message to get the DI and Al data and put these data into the corresponding internal memory When the Modbus TCP client or Modbus RTU master commands to the GW 7433D for getting Al or DI data the GW 7433D reply the Al and DI data from the internal memory When the Modbus TCP client or Modbus RTU master wants to output the data to the DO or AO channels of the CANopen slaves it send Modbus commands to the GW 7433D Then GW 7433D keeps theses data in the corresponding internal memory and sends the CANopen messages immediately or cyclically due to the RxPDO mode for outputting the DO and AO data When users use the cyclic mode of the RXPDO the GW 7433D will update the DO or AO data by using the data in the corresponding internal memory cyclically J m GW 7433D Co Internal Memory dd st A r U Input Data Input Data s Ca d Input Data Area Nn Z 2 Output Data Output Data G e Output Data Area
12. ess Data Overrun overrun a message was lost because there was not enough Status space for that message in the RXFIFO BR absent no data overrun has occurred since the last clear data overrun command was given Receive Buffer 1 full one or more messages are available in the RXFIFO gv Status 0 empty no message is available Table 3 1 Bit interpretation of the CAN status GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 24 Version 2 0 0 Jul 2011 4 Modbus TCP RTU Interface The GW 7433D supports class 0 class 1 and partial class 2 Modbus slave functionalities The Modbus TCP client or Modbus RTU master connected to the GW 7433D needs to follow the Modbus TCP RTU specification 1 0 The GW 7433D can handle maximum 5 Modbus TCP connections and one RS 232 COM1 or RS 485 COM2 connection simultaneously 4 1 Commands The following Modbus TCP RTU commands are supported by the GW 7433D jrocton Frome ete atc oo ee i freemen O a o e e fiear o o e Rapar o fro pe aR n IRI enr e foo fe ee o fro fe Table 4 1 Modbus Commands GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 25 Version 2 0 0 Jul 2011 4 2 Modbus TCP RTU Addressing 4 2 1 UO Data Addressing The GW 7433D provides a piece of the internal memory for saving I O data The table 4 2 shows the detail information of the memory type data type address and so on After using GW 7433D Utility to configure the mapping information of the CANopen slave
13. first then decide what Cob IDs are used and what CANopen protocols are implemented 3 Establish connection After finishing the configuration and close the Utility the GW 7433D will reboot and apply the new configuration automatically Then it starts to communication with the CANopen slave devices 4 Access UO data After communicating with slave devices users can access the I O data with corresponding Modbus address via the Ethernet port or COM port GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 11 Version 2 0 0 Jul 2011 2 Hardware 2 1 Pin Assignment Bypass CAN Bus CAN Bus Connector Connector Modbus Communication Indictor ane CPron ae GW 7433D pwr x U MBTCP CANopen Gateway i 7 segment CANopen Version DS 301 V4 01 Error Status LED displays NAT Device Profile DSP 401 V2 1 Support SO Rx a SO Ta PODOS l Indictor Modbus TCP slave functionalities l E 1K Vdc isolation on CAN side CANopen Communication Indictor B GND 9 Ethernet 10 100 Base T RS 232 Port INIT Pin RS 485 Port Figure 2 1 Pin assignments on the GW 7433D GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 12 Version 2 0 0 Jul 2011 2 1 1 RS 232 amp RS 485 amp Power supply interface The GW 7433D provides one RS 232 interface and one RS 485 interface The GND signal of COM1 is shared with pin 9 GND The pin assignment is shown in table 2 1 a 6 E Figure 2 2 Pin assig
14. for this requirement The GW 7433D provides two kinds of protocols One is the PDO protocol and another is SDO protocol Basically the PDO protocol is used for real I O data It is more efficient than the SDO because the PDO protocol don t have any protocol header The SDO protocol is always used for configuration In some devices the device manufacturers provide the SDO method to get the device status Therefore before using the GW 7433D users need to read the user manual of the CANopen slave device and confirm the transmission protocols of the slave data which interest users The communication concept between the GW 7433D and CANopen slaves are shown in the figure 1 6 GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 10 Version 2 0 0 Jul 2011 Figure1 6 CANopen Messaging Before using the GW 7433D users need to configure it by using GW 7433D Utility tool The figure 1 7 demonstrates how to let the GW 7433D work and how to apply it in users CANopen network Figure 1 7 Four steps to establish connection 1 Connect to GW 7433D You have to use the GW 7433D Utility to connect to the GW 7433D first In this step the IP and mask of the GW 7433D must be used 2 Add CANopen slave devices to GW 7433D EEPROM You can use the GW 7433D Utility to set the I O configuration and communication parameters of the CANopen slave device and save them into the GW 7433D In this step users need to read the CANopen slave user manual
15. ing automation and so on Baud rate bit s Max Bus length m 500 K 100 m Table 1 1 The Baud rate and the Bus length GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 4 Version 2 0 0 Jul 2011 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 e Truck based superstructure control systems e Off highway and off road vehicles e Passenger and cargo trains e Maritime electronics e Factory automation e Industrial machine control e Lifts and escalators e Building automation e Medical equipment and devices e Non industrial control e Non industrial equipment GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 5 Version 2 0 0 Jul 2011 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 o
16. istor 120Q Don t apply the termination resistor Soon Table 2 5 J3 Jumper Selection GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 17 Version 2 0 0 Jul 2011 2 2 LED Indication The GW 7433D provides three LEDs to indicate what situation is in the GW 7433D They are described as follows 2 2 1 Power LED The GW 7433D needs 10 30 Voc power input and consumes 3W The Power LED will be turn on after applying power and it will be flashing one time per second 2 2 2 Module Status indicator LED The GW 7433D includes three single color LED displays to indicate the status of module network and I O device They are MI LED it is red Cl LED it is green and ERR LED it is red The indicators assist maintenance personnel in quickly identifying a problem unit When the GW 7433D events occur these indicators will be triggered to glitter with different conditions MI LEU The LED indicates the Modbus communication status of the GW 7433D Following shows the condition of MI status When GW 7433D is working and has received a Modbus message the MI LED will be flash red o LED off The GW 7433D receives no Modbus command o LED on The GW 7433D is receiving a Modbus command CI LED This LED indicates the CANopen communication status of the module Following shows the conditions of Cl status When module is online and start to communicate with the devices it will flash If there are no TxPDO RxPDO TxSDO RxSDO prot
17. llows Group I D of 5 digit LED 33333 LED 1 indicators always 1 LED 2 3 fix string id LED 4 5 The Modbus station ID of the GW 7433D The connection client information is given as follows Group ID of 5 digit LED 44444 LED 1 indicators always 1 LED 2 3 total supported socket numbers 5 sockets LED 4 5 numbers of sockets are used by clients default 0 If any client connects to the GW 7433D the numbers of the used socket will be increased The GW 7433D allows 5 clients for connection So if the used socket number is 5 no more clients can link to the GW 7433D The error status of the GW 7433D is given as follows e LED 1 3 fix string Er e LED 4 5 error code normal is 00 The details of the error codes are shown below table 2 6 Users also can get the error status by the Modbus commands For the details please refer to the section 3 4 and 4 2 2 GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 20 Version 2 0 0 Jul 2011 Er52 CANopen slave node ID is over the range 1 127 Er53 There is a PDO COB_ID over the range 0 0x7FF Er54 Install com port error Er55 PDO Count gt 100 Er56 SDO Count gt 15 Er57 Total DO channels are over 3072 384 bytes Er58 Total DI channels are over 3072 384 bytes Er59 Total AO channels are over 640 Er60 Total Al channels are over 640 Table 2 6 Error code table Only for the GW 7433D firmware v2 00 or la
18. n 2 0A Jumper select 1200 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 GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 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 Al 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 Version 2 0 0 Jul 2011 1 6 Specifications RS 232 specification COM1 o Communication speed 115200 bps Max o RS 232 TXD RXD RTS CTS GND o Non isolation o Firmware upgrades port RS 485 specification COM2 o Communication speed 115200 bps Max o D2
19. nments power side Cee tome tin 5 INIT Pin for enable disable auto execution firmware V of power supply 10V to 30Vpc unregulated Table 2 1 COM Connector Pin Assignment GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 13 Version 2 0 0 Jul 2011 2 1 2 Connect to CANopen devices In order to provide an easy CAN bus wiring the GW 7433D supplies one CAN port with two CAN bus connector interfaces Each connecter built on the GW 7433D looks like as figure 2 3 and table 2 2 ene Som tion Table 2 2 CAN bus Connector Pin Assignment Note that the bypass CAN bus connector is not another CAN channel It is designed for connecting to another CAN device conveniently The structure of the inside electronic circuit is displayed as figure 2 4 CAN H al z O X Na X va k x Figure2 4 Electronic circuit of CAN bus connector GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 14 Version 2 0 0 Jul 2011 2 1 3 Ethernet connection The Ethernet 10 100 Base T signals are routed to an RJ45 socket for easy connection using a standard CAT 3 or CAT 5 network cable On power on of the GW 7433D it will auto negotiate the network speed and connection Transmit Data Transmit Data Table 2 3 Ethernet Connector Pin Assignment GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 15 Version 2 0 0 Jul 2011 2 1 4 Terminator resistor settings In order to minimize reflection effects
20. ocol running then the Cl LED will be turn off o LED off The GW 7433D receives no CANopen message o LED on The GW 7433D is receiving a CANopen message ERR LED amp ERROR Message show in 7 LED This LED indicates the CANopen status of the GW 7433D The following description shows the conditions of error status o LED off The GW 7433D has no error o LED flash The GW 7433D gets some communication errors o LED on GW 7433D gets some configuration errors Note The table 2 6 section 3 4 and 4 2 2 have more information about the details of error messages GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 18 Version 2 0 0 Jul 2011 2 2 3 5 digits 7 segment LED Displays While the GW 7433D boots up the 5 digits 7 segment LED of the GW 7433D shows the communication configurations and error status All of the information is divided into 4 groups These groups are displayed by turns The information is shown as the figure 2 7 Group ID fag Error Code 11111 Start See LCH Ex 00 no error Block 1 IP 1st 192 Block 2 B S ie Rie Group ID IP 2nd 168 1 1 1 1 44444 Start t l l GW 7433D Block 3 ltt of i i Modbus id IP 3rd 255 aii a Ex 01 Block 4 1 11 1711 FA Group 1b IP 4th 1 111 33333 Start This group shows GW 7433D Tala Block 3 IP address And the example r d CAN Baud rate is 19
21. on the CAN bus line the CAN bus lines have to be terminated at both ends by two terminal resistances Based on the ISO 11898 2 spec each terminal resistance is 1200 or between 1080O 132Q0 The length related resistance should have 70 mQ m Users should check the resistances of their CAN bus before they install a new CAN network as figure 2 5 Cl 0 1209 Figure 2 5 Terminator resistor Moreover to minimize the voltage drop on long distance the terminal resistance should be higher than the value defined in the ISO 11898 2 Table 2 4 may be used as a reference Bus Length Length Related Cross Section Terminal meter Resistance mQ m Type Resistance Q 0 25 23 AWG 124 0 1 0 34mm2 22AWG 0 34 22AWG 127 0 1 0 6mm2 20AWG 300 600 0 5 0 6mm2 150 300 20AWG 600 1K 0 75 0 8mm2 150 300 18AWG Table 2 4 Relation between bus cable and length GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 16 Version 2 0 0 Jul 2011 Therefore the GW 7433D module supplies a jumper for users to connect the terminator resistor or not If users want to use this terminator resistor please open the GW 7433D cover and use the JP3 jumper to activate the 1200 terminator resistor built in the system as in the figure 2 6 Note that the default setting is active And about the J3 jumper setting please refer the table 2 5 controller Figure 2 6 XC100 I O expansion board LAYOUT Apply the termination res
22. s users can get the mapping table between the Modbus address and CANopen data The information of the Modbus memory assignment and corresponding data type are shown below Memory Command PLC Support CANopen Support Type Start Addr Start Addr Data Type Function 0000h 40001h Byte Word 4 byte 3 6 16 Table 4 2 I O Data Addressing 4 2 2 Special Data Addressing The GW 7433D supports special data such as the error status of the CANopen slave reset command and so on The table 4 3 shows the details of these special data addresses Max Al address n Read n CANopen slave s error status 4 9 4 Max Al address N 1 Read the GW 7433D s error status 3 4 Max Al address N 2 Read the GW 7433D s CAN status 3 5 GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 26 Version 2 0 0 Jul 2011 Max AO address n Reset n CANopen slave write only ne 6 Max AO address N 1 Reset the GW 7433D write only 3 7 Max AO address N 2 Set the GW 7433D to Listen Mode 3 8 Table 4 3 Special Data Addressing 1 The Max AI AO address is decided by the maximum AI AO channels configuration by utility For example if users finish the configuration by the GW 7433D utility check the mapping table and find that there are 8 Al data 16 bytes assigned in the Modbus memory the Max Al address is 0007h or 30008h for PLC because the useful Al channel is from 0 7 2
23. ter Only for the GW 7433D firmware v1 xx GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 21 Version 2 0 0 Jul 2011 3 CANopen Interface 3 1 Network Communication The GW 7433D Modbus TCP RTU to CANopen Gateway acts as a CANopen master on CANopen network It can exchange I O data with up to 10 modules Users can use the GW 7433D Utility tool to mapping CANopen slave s data into the GW 7433D via Ethernet and then the GW 7433D will work 3 2 Slave Device Communication After the configuration of CANopen slave devices please run the CANopen slave device in the pre operation mode Use the GW 7433D utility to configure the mapping table of the CANopen slave s data When you finish the GW 7433D utility configuration and close the utiltiy the GW 7433D will auto re boot the firmware and poll the TxPDO and TxSDO data of the CANopen slave devices as soon as possible The RxPDO and RxSDO communication are decided by the mode If the cyclic mode is used the GW 7433D sends the RxPDO cyclically even the DO or AO data are the same as previous ones If users use normal mode the RxPDO is only sent while the GW 7433D gets the Modbus command to send the DO or AO data 3 3 Listen Mode If users want the GW 7433D to monitor the CANopen network but not to send any message to the CANopen network this function will be useful For example if users have two GW 7433Ds in his application the one is in normal mode and another is in list
24. tocol 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 LJ f AB IES EIN pe 187123 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 GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 3 Version 2 0 0 Jul 2011 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 build
25. upply interface 13 2 1 2 Connect to CANopen devices sss 14 2 1 3 Ethernet connection senesenraeneenee aeea 15 2 1 4 Terminator resistor settings eee eee eee eee 16 2 2 CED INndicatiO lT 18 2 2 1 POWOR B 2 n E E EEE 18 2 2 2 Module Status indicator LED 18 MI SEED os bo oss Ses Fo aed Poll Pe ts Ps Fete Bos Ds Ft Pd 18 Bs MARY 9 2 D TT 18 ERR LED amp ERROR Message show in 7 LED 18 2 2 3 5 digits 7 Segment LED Displays eee 19 3 CANopen Interface eee 22 3 1 Network Communication sees eee eee eee ee 22 3 2 Slave Device Communication sese eee 22 3 3 Listen Mode serrera a a e a a aa A a ken 22 3 4 Interaction with Internal Memory sese eee eee eee eee eee eee eee eee 22 3 5 GAN Status Message teiripe dieeti eserescpederenteederescpeserenteedees 24 4 Modbus TCP RTU Interface ccc eee 25 4 1 COMIIMEN OS 5 enaa an a aa 25 4 2 Modbus TCP RTU Addressing ccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 26 4 2 1 VO Data Addressing suse ccccccsechadecedcudcccsdcedcececeedce ced cedeedeceebeds 26 4 2 2 Special Data Addressing eee 26 5 Appendix A SOmWare cis sese eee 29 5 1 GW T433 D UNY anae n e o iodo edok 29 5 2 Vlore loli em WTINTEY S E E E E 30 GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 2 Version 2 0 0 Jul 2011 1 General Information 1 1 CANopen Introduction The CAN Controller Area Network is a serial communication pro
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