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ICPDAS GW-7433D User Manual

Modbus tcp server & rtu slave to canopen master
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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.
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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
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Copyright
Copyright 2007 ~ 2008 by ICP DAS. All rights are reserved.
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GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual
(Version 2.1.0, Aug/2019)
User's Manual
1

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Summary of Contents for ICPDAS GW-7433D

  • Page 1 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 (Version 2.1.0, Aug/2019)

  • Page 2: Table Of Contents

    CAN Status Message ...............24 Modbus TCP/RTU Interface..............25 Commands ................25 Modbus TCP/RTU Addressing..........26 4.2.1 I/O Data Addressing ............26 4.2.2 Special Data Addressing ...........26 Appendix A – Software................29 GW-7433D Utility..............29 Modbus Utility ................30 GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual (Version 2.1.0, Aug/2019)

  • Page 3: General Information

    Figure 1.1 Example of the CANopen network CANopen was developed as a standardized embedded network with highly flexible configuration capabilities. provides standardized communication objects for real-time data (Process Data Objects, PDO), GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual (Version 2.1.0, Aug/2019)
  • Page 4 1000 m 125 K 500 m 250 K 250 m 500 K 100 m 800 K 50 m 25 m Table 1.1 The Baud rate and the Bus length GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual (Version 2.1.0, Aug/2019)

  • Page 5: Canopen Applications

    ● 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 GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual (Version 2.1.0, Aug/2019)

  • Page 6: Module Characteristics

    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.

  • Page 7: Hardware Features

    ● 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.

  • Page 8: Specifications

    ○ 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. GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual (Version 2.1.0, Aug/2019)

  • Page 9: Typical Applications

    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.

  • Page 10: Modbus Tcp/Rtu To Canopen Gateway

    The concept of the internal memory is shown below. 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.
  • Page 11 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:...

  • Page 12: Hardware

    2 Hardware 2.1 Pin Assignment Figure 2.1 Pin assignments on the GW-7433D GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual (Version 2.1.0, Aug/2019)

  • Page 13: Rs-232 & Rs-485 & Power Supply Interface

    2.1.1 RS-232 & RS-485 & 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. Figure 2.2 Pin assignments (power side)

  • Page 14: Connect To Canopen Devices

    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.

  • Page 15: 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. Name Description...

  • Page 16: Terminator Resistor Settings

    124 (0.1%) 0.34mm2(22AWG) 40~300 < 60 0.34(22AWG)~ 127 (0.1%) 0.6mm2(20AWG) 300~600 < 40 0.5~0.6mm2 150~300 (20AWG) 600~1K < 20 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 (Version 2.1.0, Aug/2019)
  • Page 17 If users want to use this terminator resistor, please open the GW-7433D cover and use the JP3 jumper to activate the 120Ω terminator resistor built in the system, as in the figure 2.6. Note that the default setting is active.

  • Page 18: Led Indication

    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 V power input and consumes 3W. The Power LED will be turn on after applying power and it will be flashing one time per second.

  • Page 19: 5-Digits 7-Segment Led Displays

    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.
  • Page 20 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: ●...
  • Page 21 -Er60 * Total AI channels are over 640 Table 2-6 Error code table : Only for the GW-7433D firmware v2.00 or later. ** : Only for the GW-7433D firmware v1.xx. GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual (Version 2.1.0, Aug/2019)

  • Page 22: Canopen Interface

    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.

  • Page 23: Interaction With Internal Memory

    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.

  • Page 24: Can Status Message

    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).

  • Page 25: Modbus Tcp/Rtu Interface

    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.

  • Page 26: Modbus Tcp/Rtu Addressing

    4.2 Modbus TCP/RTU Addressing 4.2.1 I/O 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 slaves, users can get the mapping table between the Modbus address and CANopen data.
  • Page 27 0x80 to into “Pre-operational mode” status and write 0x81 to reset this 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.
  • Page 28 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 -->...

  • Page 29: Appendix A - Software

    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.

  • Page 30: Modbus Utility

    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://www.icpdas.com/products/PAC/i-8000/modbus_web_download.htm GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual (Version 2.1.0, Aug/2019)

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